{"schema": "robot-apis.episode.v1", "session": {"id": "s_1d848696f460406abd642d1b655e6667", "owner": "local-admin", "robot_id": "so101", "mode": "manual", "lease_seconds": 3600, "record": true, "scene": "pick_place", "lease_epoch": "[redacted for publication]", "status": "closed", "created_at": 1792583559.1439717, "expires_at": 1792587159.1439722, "backend": "mujoco", "model_sha256": "d75253eb568e8a7214db9c631ab7bed4217f608a26f7276ebe9a7636cac82580", "scene_capabilities": {"robot_id": "so101", "backend": "mujoco", "target": "simulation", "mujoco_version": "3.3.7", "model_sha256": "d75253eb568e8a7214db9c631ab7bed4217f608a26f7276ebe9a7636cac82580", "scene": "pick_place", "scene_sha256": "a4f63b5ff9dfc540051b5ae5af0a23bc58877cd03e3b904913e1cd28ccba83ec", "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": -0.001259562794}, {"name": "shoulder_lift", "unit": "rad", "min": -1.7453292519943224, "max": 1.7453292519943366, "max_command_speed": 1.5, "home": -0.9725076738}, {"name": "elbow_flex", "unit": "rad", "min": -1.69, "max": 1.69, "max_command_speed": 1.5, "home": 0.1279539774}, {"name": "wrist_flex", "unit": "rad", "min": -1.65806, "max": 1.65806, "max_command_speed": 1.5, "home": 1.63183907}, {"name": "wrist_roll", "unit": "rad", "min": -2.7438472969992493, "max": 2.841206309382605, "max_command_speed": 1.5, "home": 7.937669061e-19}, {"name": "gripper", "unit": "rad", "min": -0.17453, "max": 1.7453291995659765, "max_command_speed": 1.5, "home": 1.0}], "gripper": {"name": "gripper", "opening_unit": "normalized_0_closed_1_open", "contact_completion": true}, "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}, "target": "simulation", "final_state": {"session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 14040, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": false, "observed_at": 1792583599.2075255, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000018}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999895}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 28.079999999995316, "positions": {"shoulder_pan": 0.811638557032919, "shoulder_lift": -0.7539610380509284, "elbow_flex": 0.3329924338708012, "wrist_flex": 1.6535020989899962, "wrist_roll": -1.67687589977668e-05, "gripper": 0.9999931757654862}, "velocities": {"shoulder_pan": -8.446446522908725e-13, "shoulder_lift": -7.080730552851322e-11, "elbow_flex": 5.826177492220416e-12, "wrist_flex": 1.0721641372368264e-12, "wrist_roll": -6.8102637671461285e-16, "gripper": -5.11057897051471e-14}, "actuator_forces": {"shoulder_pan": -2.2737367544323206e-11, "shoulder_lift": -0.13213144619214745, "elbow_flex": -0.34480904357030795, "wrist_flex": -0.04355857505129279, "wrist_roll": 3.6988583122090496e-05, "gripper": 0.0033958001754399447}, "applied_targets": {"shoulder_pan": 0.8116385570328953, "shoulder_lift": -0.7540934051105551, "elbow_flex": 0.33264700997269847, "wrist_flex": 1.6534584627424254, "wrist_roll": -1.673170445756389e-05, "gripper": 0.9999965776209644}, "tcp": {"position_m": [0.13528457711491243, -0.10166479327634367, 0.12487427896856323], "quaternion_wxyz": [0.7439850940427982, 0.24636100808207298, 0.5230473326504408, -0.33498346428767567], "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": "pick_place", "scene_sha256": "a4f63b5ff9dfc540051b5ae5af0a23bc58877cd03e3b904913e1cd28ccba83ec", "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": -0.001259562794}, {"name": "shoulder_lift", "unit": "rad", "min": -1.7453292519943224, "max": 1.7453292519943366, "max_command_speed": 1.5, "home": -0.9725076738}, {"name": "elbow_flex", "unit": "rad", "min": -1.69, "max": 1.69, "max_command_speed": 1.5, "home": 0.1279539774}, {"name": "wrist_flex", "unit": "rad", "min": -1.65806, "max": 1.65806, "max_command_speed": 1.5, "home": 1.63183907}, {"name": "wrist_roll", "unit": "rad", "min": -2.7438472969992493, "max": 2.841206309382605, "max_command_speed": 1.5, "home": 7.937669061e-19}, {"name": "gripper", "unit": "rad", "min": -0.17453, "max": 1.7453291995659765, "max_command_speed": 1.5, "home": 1.0}], "gripper": {"name": "gripper", "opening_unit": "normalized_0_closed_1_open", "contact_completion": true}, "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": 9645, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 0, "teleop_active": true, "observed_at": 1792583559.6264381, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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": 0.060094371573626425}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.060094371573626425}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.060094371573626425}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.060094371573626425}], "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": -0.0012982604479384954, "shoulder_lift": -0.9722618026117053, "elbow_flex": 0.12824794578316626, "wrist_flex": 1.6320092930624384, "wrist_roll": 1.0033543753340313e-08, "gripper": 0.9999998834255835}, "velocities": {"shoulder_pan": -0.019348826969247744, "shoulder_lift": 0.12293559414739058, "elbow_flex": 0.1469841915831308, "wrist_flex": 0.08511153121912671, "wrist_roll": 5.016771876273272e-06, "gripper": -5.8287208242377877e-05}, "actuator_forces": {"shoulder_pan": -0.39614407510354455, "shoulder_lift": 2.994660000000067, "elbow_flex": 2.9946600000000103, "wrist_flex": 1.521672090643051, "wrist_roll": 6.717575877356644e-17, "gripper": -1.9966522700087808e-05}, "applied_targets": {"shoulder_pan": -0.0016564132629382545, "shoulder_lift": -0.9695076738, "elbow_flex": 0.1309539774, "wrist_flex": 1.6333634554968275, "wrist_roll": 8.610624509433877e-19, "gripper": 0.9999999799978735}, "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": 9646, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 51, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 1, "teleop_active": true, "observed_at": 1792583560.0571926, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456000269e-06, 0.10006651222130232], "quaternion_wxyz": [0.9997186370071134, 1.0722437574032629e-17, 1.695353369607449e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06133838024897848}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06133838024897848}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06133838024897848}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06133838024897848}], "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": -0.0016463206037198295, "shoulder_lift": -0.954303918918061, "elbow_flex": 0.14721872865712884, "wrist_flex": 1.633529052583514, "wrist_roll": -1.0397496010438955e-07, "gripper": 0.9999965073727223}, "velocities": {"shoulder_pan": -2.2828889504916778e-05, "shoulder_lift": -0.052886858566154896, "elbow_flex": -0.043321050671390374, "wrist_flex": 0.0020721488565267556, "wrist_roll": -1.7893301353253285e-06, "gripper": 1.1111872231172448e-05}, "actuator_forces": {"shoulder_pan": 0.007592494843530639, "shoulder_lift": -0.03190266755996163, "elbow_flex": -0.42617815186045505, "wrist_flex": -0.060777485108246765, "wrist_roll": 3.589958874132432e-05, "gripper": 0.0034520932196073773}, "applied_targets": {"shoulder_pan": -0.0016388433693159225, "shoulder_lift": -0.9543858932695792, "elbow_flex": 0.14676718339919942, "wrist_flex": 1.633470392622948, "wrist_roll": -6.951533982584702e-08, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18518799824985965, 0.00022968248907003646, 0.18306452932046846], "quaternion_wxyz": [0.9155304468486312, 0.021957526765106206, 0.40154760727813427, -0.009021474419999712], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9647, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 2, "teleop_active": true, "observed_at": 1792583560.1265938, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456001773e-06, 0.1000580809109001], "quaternion_wxyz": [0.9997186370071134, 2.6523387100049892e-17, 6.441175766109401e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131576014139547}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061315760141395476}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131576014139546}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061315760141395455}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.704212936675669e-05}, "simulation_time": 0.20200000000000015, "positions": {"shoulder_pan": -0.0016404197940056474, "shoulder_lift": -0.954308773737804, "elbow_flex": 0.14745640273973212, "wrist_flex": 1.6336333453561964, "wrist_roll": -2.032028491980904e-07, "gripper": 0.9999964791613097}, "velocities": {"shoulder_pan": -7.523875226795883e-06, "shoulder_lift": 0.0005938281167824095, "elbow_flex": -0.0040816391123342085, "wrist_flex": 0.0005819972769617487, "wrist_roll": -1.0170251630298144e-06, "gripper": 2.2091934736949013e-07}, "actuator_forces": {"shoulder_pan": -0.00032312104289800025, "shoulder_lift": -0.004591009462615148, "elbow_flex": -0.3223896430074831, "wrist_flex": -0.07883512203056853, "wrist_roll": 5.892267007119164e-05, "gripper": 0.00349370475203159}, "applied_targets": {"shoulder_pan": -0.0016407491456654692, "shoulder_lift": -0.9543129433207033, "elbow_flex": 0.1471285633102195, "wrist_flex": 1.6335550255040225, "wrist_roll": -1.4512838693478908e-07, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18516400866810057, 0.00022878481086638082, 0.18303604713323676], "quaternion_wxyz": [0.9154993692555886, 0.021957937476870786, 0.401618334303985, -0.009025930715117148], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9648, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 3, "teleop_active": true, "observed_at": 1792583560.2013803, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456003736e-06, 0.1000570197326013], "quaternion_wxyz": [0.9997186370071134, 2.8527284901667576e-17, -4.663703620255114e-20, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131291024984745}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131291024984747}, {"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": -0.0016406522430716848, "shoulder_lift": -0.9542707092373657, "elbow_flex": 0.14771462707152172, "wrist_flex": 1.6337227384311308, "wrist_roll": -2.9158499340087123e-07, "gripper": 0.9999964706551793}, "velocities": {"shoulder_pan": 6.115238200416806e-07, "shoulder_lift": 0.0002033012130719441, "elbow_flex": -0.0004766412085484824, "wrist_flex": 9.43511361532172e-05, "wrist_roll": -3.9394006129286413e-07, "gripper": -4.955785324926417e-07}, "actuator_forces": {"shoulder_pan": 1.643947204654772e-05, "shoulder_lift": -0.021946065818156058, "elbow_flex": -0.29137056426216645, "wrist_flex": -0.08371101129273484, "wrist_roll": 7.15396677552904e-05, "gripper": 0.003503483055283141}, "applied_targets": {"shoulder_pan": -0.0016406352612475313, "shoulder_lift": -0.9542925114640205, "elbow_flex": 0.14742191080430667, "wrist_flex": 1.633639020214657, "wrist_roll": -2.2033483499294266e-07, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.185150112413578, 0.00022879911503481069, 0.1829742373093951], "quaternion_wxyz": [0.9154230064813983, 0.021955926671182645, 0.401792375686664, -0.009030134474848333], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9649, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 5, "teleop_active": true, "observed_at": 1792583560.37117, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174560055616e-06, 0.10005688621062614], "quaternion_wxyz": [0.9997186370071134, 2.825260085266487e-17, -3.0747018317654045e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125516181591}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125516181591}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125516181579}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125516181579}], "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": -0.0015929031279301343, "shoulder_lift": -0.954233357634662, "elbow_flex": 0.14774398034974537, "wrist_flex": 1.6334833381707405, "wrist_roll": -3.8441194360562977e-07, "gripper": 0.9999965380860522}, "velocities": {"shoulder_pan": 0.023870903474612185, "shoulder_lift": 0.00519158459846008, "elbow_flex": -0.13204757676422074, "wrist_flex": -0.1617932966893544, "wrist_roll": -6.841909594562625e-06, "gripper": 3.7140647879622245e-05}, "actuator_forces": {"shoulder_pan": 0.48989439104711807, "shoulder_lift": -0.11575479983400783, "elbow_flex": -3.055284137566474, "wrist_flex": -3.078379590246186, "wrist_roll": 3.1645703442949574e-07, "gripper": 0.0035106225361687393}, "applied_targets": {"shoulder_pan": -0.0011498767135645488, "shoulder_lift": -0.9543593779243493, "elbow_flex": 0.14494799765272753, "wrist_flex": 1.6307229902840261, "wrist_roll": -3.7072812441640977e-07, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18513527105535854, 0.00022877414891996957, 0.18290643111083438], "quaternion_wxyz": [0.9153417829332905, 0.02195383576141301, 0.40197739146739064, -0.009034725282907555], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9650, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 6, "teleop_active": true, "observed_at": 1792583560.4489303, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456005358e-06, 0.1000568694109532], "quaternion_wxyz": [0.9997186370071134, -4.4231802225033415e-19, -7.127792041647463e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250649455333}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250649455333}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250649455333}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250649455334}], "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": -0.0011766314887948685, "shoulder_lift": -0.9543215754528475, "elbow_flex": 0.14567510224029295, "wrist_flex": 1.6301866125760356, "wrist_roll": -4.798984679027104e-07, "gripper": 0.9999964389535226}, "velocities": {"shoulder_pan": 5.843993667728711e-06, "shoulder_lift": 0.0003238319736538548, "elbow_flex": 0.0028749119101920267, "wrist_flex": 0.0015295943011407263, "wrist_roll": -1.6084227806823509e-06, "gripper": 3.770420463122352e-06}, "actuator_forces": {"shoulder_pan": -0.007437170421050077, "shoulder_lift": 0.0013038202072266358, "elbow_flex": -0.4389037542418919, "wrist_flex": -0.08665240407253805, "wrist_roll": 3.266413846578605e-05, "gripper": 0.003532592484475572}, "applied_targets": {"shoulder_pan": -0.001183978465276615, "shoulder_lift": -0.9543201024196059, "elbow_flex": 0.14524927459494458, "wrist_flex": 1.6301018169663726, "wrist_roll": -4.484361076977546e-07, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1856227836872381, 0.00016146504241464286, 0.18373477233542918], "quaternion_wxyz": [0.9165494773343308, 0.02207822400749407, 0.3992059026571913, -0.009179047145366189], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9651, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 7, "teleop_active": true, "observed_at": 1792583560.6048098, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174560057505e-06, 0.10005686729723616], "quaternion_wxyz": [0.9997186370071134, 1.6183346527709385e-17, -1.1072539089316064e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250081713723}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250081713724}, {"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": -0.0011824271171553093, "shoulder_lift": -0.9542821066965281, "elbow_flex": 0.14586703079235547, "wrist_flex": 1.6302669473895783, "wrist_roll": -5.82843989292936e-07, "gripper": 0.9999964799415311}, "velocities": {"shoulder_pan": 7.270171047215289e-06, "shoulder_lift": 0.00030623910032984006, "elbow_flex": -0.004053536690635243, "wrist_flex": 0.0005785323969153908, "wrist_roll": -1.0089651433878114e-06, "gripper": 2.761013358081541e-07}, "actuator_forces": {"shoulder_pan": 0.0003398617197829523, "shoulder_lift": -0.016654361567475462, "elbow_flex": -0.32111171791055426, "wrist_flex": -0.07950689163021707, "wrist_roll": 5.9733838268477275e-05, "gripper": 0.003492882609748449}, "applied_targets": {"shoulder_pan": -0.0011820820207184195, "shoulder_lift": -0.9542985647093678, "elbow_flex": 0.14554048663325728, "wrist_flex": 1.630187955202564, "wrist_roll": -5.239542392777004e-07, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18561111734530167, 0.00016230321601259345, 0.18368221442000968], "quaternion_wxyz": [0.9164841195917243, 0.022075433806322715, 0.39935605599905627, -0.009180103230525012], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9652, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 8, "teleop_active": true, "observed_at": 1792583560.8890824, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456007425e-06, 0.10005686703129066], "quaternion_wxyz": [0.9997186370071134, 2.5782218743809917e-17, -4.509628161961567e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250010281131}, {"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": 0.0613125001028113}], "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": -0.0011821857220925816, "shoulder_lift": -0.9542528688082531, "elbow_flex": 0.14612495159794445, "wrist_flex": 1.6303556526380976, "wrist_roll": -6.707160408126014e-07, "gripper": 0.9928308318484323}, "velocities": {"shoulder_pan": 1.6926894893303805e-07, "shoulder_lift": 0.00021349928727200097, "elbow_flex": -0.000522904978607395, "wrist_flex": 0.00014034599787984272, "wrist_roll": -3.9156072787610654e-07, "gripper": 0.018777384778382346}, "actuator_forces": {"shoulder_pan": -1.275302492254049e-05, "shoulder_lift": -0.02148367761924419, "elbow_flex": -0.2900308549174042, "wrist_flex": -0.08327958798759028, "wrist_roll": 7.137809718496166e-05, "gripper": 0.3129814183705548}, "applied_targets": {"shoulder_pan": -0.0011821985914115174, "shoulder_lift": -0.9542741962765771, "elbow_flex": 0.14583350682245416, "wrist_flex": 1.6302724141327076, "wrist_roll": -5.996299099592827e-07, "gripper": 0.9931179482769968}, "tcp": {"position_m": [0.18559692126580224, 0.00016224962216595184, 0.18362142795082714], "quaternion_wxyz": [0.9164102528217409, 0.022073627211683006, 0.3995255312977433, -0.009184407774498747], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9653, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 10, "teleop_active": true, "observed_at": 1792583561.0702887, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456009184e-06, 0.10005686699782973], "quaternion_wxyz": [0.9997186370071134, 2.7331392625120428e-17, -7.26995839732734e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001293639}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001293584}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001293584}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001293584}], "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": -0.0011821950678978016, "shoulder_lift": -0.9542249132829037, "elbow_flex": 0.1464449490994919, "wrist_flex": 1.6304437032726469, "wrist_roll": -7.5150981730699e-07, "gripper": 0.9995443162914804}, "velocities": {"shoulder_pan": 4.348470690378499e-08, "shoulder_lift": 0.0003451252397137457, "elbow_flex": 0.012531513992547899, "wrist_flex": 0.0011801176222512523, "wrist_roll": -5.803410734368577e-07, "gripper": -0.16779622952596235}, "actuator_forces": {"shoulder_pan": -8.805196960448569e-07, "shoulder_lift": -0.00031245001355273416, "elbow_flex": -0.0005662559798338407, "wrist_flex": 0.0001702597373878234, "wrist_roll": 3.0811136456131497e-07, "gripper": -2.858500195499232}, "applied_targets": {"shoulder_pan": -0.0011821951548672154, "shoulder_lift": -0.9542256035333831, "elbow_flex": 0.1464198860715068, "wrist_flex": 1.6304413430374023, "wrist_roll": -7.503491351601163e-07, "gripper": 0.9969999799978735}, "tcp": {"position_m": [0.18558212625147777, 0.00016223410163975594, 0.18355296020133027], "quaternion_wxyz": [0.9163288246039414, 0.022071569454761082, 0.39971226281790145, -0.009189013807566695], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9654, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 11, "teleop_active": true, "observed_at": 1792583561.149267, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456010706e-06, 0.10005686699361971], "quaternion_wxyz": [0.9997186370071134, -4.1118266253326374e-19, -7.131851474508206e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500001627565}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000162749}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000162746}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000162738}], "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": -0.004485171957746619, "shoulder_lift": -0.9551984354990546, "elbow_flex": 0.14328611098265348, "wrist_flex": 1.6270402880638972, "wrist_roll": -7.162043867146953e-07, "gripper": 1.0034620891779158}, "velocities": {"shoulder_pan": 0.06280890918340215, "shoulder_lift": -0.02303864189450848, "elbow_flex": 0.03175683370254274, "wrist_flex": 0.06955413332737384, "wrist_roll": -6.616950850736189e-05, "gripper": 0.575937372352778}, "actuator_forces": {"shoulder_pan": 0.8815807336322661, "shoulder_lift": 0.34425935609681346, "elbow_flex": 0.7598831873448546, "wrist_flex": 0.8295007521098796, "wrist_roll": -7.366333719055452e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.0036773700844590904, "shoulder_lift": -0.9549002830827379, "elbow_flex": 0.1439378284912288, "wrist_flex": 1.6277960657425448, "wrist_roll": -8.247714647493015e-07, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1860141790909817, 0.0006673648867236688, 0.18464031431159206], "quaternion_wxyz": [0.9178679879091723, 0.021431462181520308, 0.3962352367280394, -0.007529035489619625], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9655, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 12, "teleop_active": true, "observed_at": 1792583561.2243757, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456010908e-06, 0.10005686699309001], "quaternion_wxyz": [0.9997186370071134, 1.3115433711125198e-17, -9.470672777062613e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000020469}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000204696}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000020468}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000020468}], "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": -0.003656595743292221, "shoulder_lift": -0.9549239666530158, "elbow_flex": 0.144529118814395, "wrist_flex": 1.627966616979362, "wrist_roll": -9.978669711454389e-07, "gripper": 1.000049737926597}, "velocities": {"shoulder_pan": -0.0005666085463426339, "shoulder_lift": 0.0005310250735662673, "elbow_flex": -0.003829504210826744, "wrist_flex": 0.00015733847826927776, "wrist_roll": -1.4876383275730976e-06, "gripper": -0.003501106518280345}, "actuator_forces": {"shoulder_pan": -0.0252919963353877, "shoulder_lift": -0.007301121626710483, "elbow_flex": -0.3134765298757145, "wrist_flex": -0.08943488992804305, "wrist_roll": 4.329160812752066e-05, "gripper": -0.04641129680760514}, "applied_targets": {"shoulder_pan": -0.003682328152961302, "shoulder_lift": -0.9549308900465597, "elbow_flex": 0.1442103868765984, "wrist_flex": 1.627877330301078, "wrist_roll": -9.55738053706922e-07, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18587451875572203, 0.0005262512469323634, 0.18425085772604705], "quaternion_wxyz": [0.917347203029115, 0.02160614009644004, 0.3974208374933737, -0.007997607820992212], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9656, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 13, "teleop_active": true, "observed_at": 1792583561.3636189, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456013422e-06, 0.10005686699302337], "quaternion_wxyz": [0.9997186370071134, 3.413441732279964e-17, 3.2787344726999695e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000002547}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000025444}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000002544}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000002543}], "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": -0.0036744513916463256, "shoulder_lift": -0.9548884967808031, "elbow_flex": 0.1448047999121349, "wrist_flex": 1.6280459431968106, "wrist_roll": -1.1008905343467038e-06, "gripper": 0.9836576546517091}, "velocities": {"shoulder_pan": 2.6045408244886412e-05, "shoulder_lift": 0.00022369728556850466, "elbow_flex": -0.0007493037106984389, "wrist_flex": 0.00020376385467936106, "wrist_roll": -3.9042885706838814e-07, "gripper": -0.1768854862690607}, "actuator_forces": {"shoulder_pan": 0.0008959525025180604, "shoulder_lift": -0.02145212520372297, "elbow_flex": -0.3017437323625245, "wrist_flex": -0.08290691040701859, "wrist_roll": 7.160590550798476e-05, "gripper": 0.5129081164324134}, "applied_targets": {"shoulder_pan": -0.0036735333559252256, "shoulder_lift": -0.9549097667077241, "elbow_flex": 0.1445015379930776, "wrist_flex": 1.6279631524084164, "wrist_roll": -1.029594737706726e-06, "gripper": 0.9839419726562503}, "tcp": {"position_m": [0.1858618534209963, 0.0005290053434223263, 0.18418663708862354], "quaternion_wxyz": [0.917270805323102, 0.02160021850799389, 0.39759754387438967, -0.007993332682156313], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9657, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 15, "teleop_active": true, "observed_at": 1792583561.4646187, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456015463e-06, 0.10005686699301497], "quaternion_wxyz": [0.9997186370071134, 2.740973452034042e-17, 1.6752234015250116e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000375}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000375}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000003205}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000003205}], "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": -0.0036740226157998233, "shoulder_lift": -0.9548611614953088, "elbow_flex": 0.14512125526036246, "wrist_flex": 1.6281352934920592, "wrist_roll": -1.1806623408633787e-06, "gripper": 0.9887875586040463}, "velocities": {"shoulder_pan": 2.0457251103745685e-06, "shoulder_lift": 0.0003111757124081931, "elbow_flex": 0.013140407868774595, "wrist_flex": 0.0015752795083253605, "wrist_roll": -5.362602353902357e-07, "gripper": 0.17013280432929095}, "actuator_forces": {"shoulder_pan": 2.1956743587736582e-06, "shoulder_lift": -0.0003127614826325953, "elbow_flex": -0.000494002529677573, "wrist_flex": 0.00011669944797176868, "wrist_roll": 3.1220049016974713e-07, "gripper": 3.0912671045975912}, "applied_targets": {"shoulder_pan": -0.003674026707250044, "shoulder_lift": -0.9548617838467336, "elbow_flex": 0.1450949744446249, "wrist_flex": 1.6281321429330426, "wrist_roll": -1.1795898203925983e-06, "gripper": 0.9915299604666235}, "tcp": {"position_m": [0.1858472852054472, 0.0005288823476226281, 0.1841190217213286], "quaternion_wxyz": [0.9171907952224346, 0.02159806270527546, 0.3977820980457309, -0.007998207358731312], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9658, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 16, "teleop_active": true, "observed_at": 1792583561.755716, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.79991745601434e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, -1.0051852300410064e-17, 2.4418715020456312e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000015}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000015}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000016}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000016}], "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": -0.0021452716686909336, "shoulder_lift": -0.9580993276024673, "elbow_flex": 0.14069457822528625, "wrist_flex": 1.6258048713333295, "wrist_roll": -1.3589701529299642e-06, "gripper": 1.000731881195228}, "velocities": {"shoulder_pan": -0.022929017814063885, "shoulder_lift": -0.010618910613833403, "elbow_flex": 0.03174121608645891, "wrist_flex": 0.041965050426893996, "wrist_roll": 2.5035883025923866e-05, "gripper": -0.07051198692713133}, "actuator_forces": {"shoulder_pan": -0.42341335962890625, "shoulder_lift": 1.1286300600362438, "elbow_flex": 1.2037996470327528, "wrist_flex": 0.5688314017622815, "wrist_roll": 9.202324474386547e-05, "gripper": -0.7925598605132791}, "applied_targets": {"shoulder_pan": -0.0025306527532063887, "shoulder_lift": -0.957102578186854, "elbow_flex": 0.14173726942024886, "wrist_flex": 1.626317640864337, "wrist_roll": -1.255429537290351e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18600750014636347, 0.00029773159876449114, 0.18560378818647225], "quaternion_wxyz": [0.9191792910613195, 0.021964774392164925, 0.39313219824880824, -0.00860547906691644], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9659, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 17, "teleop_active": true, "observed_at": 1792583561.815913, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456014113e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.967014624121685e-18, 2.109247902272957e-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": 0.06131249999999999}, {"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": 1.402000000000001, "positions": {"shoulder_pan": -0.0024784285912733653, "shoulder_lift": -0.9570744480624147, "elbow_flex": 0.14233456736880576, "wrist_flex": 1.6264513366117357, "wrist_roll": -1.38001503168833e-06, "gripper": 0.9999823406227698}, "velocities": {"shoulder_pan": 6.029472130978507e-07, "shoulder_lift": -0.0016448782258762992, "elbow_flex": -0.003931221819374331, "wrist_flex": 0.0002836573477055163, "wrist_roll": -1.043689112599779e-06, "gripper": 0.0005173014291711632}, "actuator_forces": {"shoulder_pan": 4.106381590229802e-05, "shoulder_lift": -0.056271065195460324, "elbow_flex": -0.30407014231650464, "wrist_flex": -0.08688810273974923, "wrist_roll": 5.9853493437265126e-05, "gripper": 0.017221586561618096}, "applied_targets": {"shoulder_pan": -0.0024783876558651247, "shoulder_lift": -0.9571325231548086, "elbow_flex": 0.14202498615423437, "wrist_flex": 1.6263647034210806, "wrist_roll": -1.3210365017514746e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1859560370880865, 0.00035338473101179964, 0.18508051962249292], "quaternion_wxyz": [0.9185018501348797, 0.02187176197736217, 0.394720438758048, -0.008470687897835477], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9660, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 18, "teleop_active": true, "observed_at": 1792583561.8913107, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456011904e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, -1.3534142392329273e-17, -2.0063007452927255e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"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": 1.5020000000000011, "positions": {"shoulder_pan": -0.0024783996118546633, "shoulder_lift": -0.9570822260029967, "elbow_flex": 0.1426040952121504, "wrist_flex": 1.6265359431556994, "wrist_roll": -1.4698765564980551e-06, "gripper": 0.9999965978094291}, "velocities": {"shoulder_pan": 1.9818165846124647e-07, "shoulder_lift": 0.00023955472229810252, "elbow_flex": -0.00047975266926979373, "wrist_flex": 7.778286380594814e-05, "wrist_roll": -4.009222064940484e-07, "gripper": -4.437773291738708e-06}, "actuator_forces": {"shoulder_pan": 2.7645155453726034e-06, "shoulder_lift": -0.01916094842988514, "elbow_flex": -0.29084376482657603, "wrist_flex": -0.0852779971532982, "wrist_roll": 7.270012849804964e-05, "gripper": 0.0033792577085023368}, "applied_targets": {"shoulder_pan": -0.002478396677448279, "shoulder_lift": -0.9571012076533598, "elbow_flex": 0.14231190673486882, "wrist_flex": 1.6264506408852293, "wrist_roll": -1.3974711332282415e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18593990144704986, 0.00035334107793707554, 0.18502245369845874], "quaternion_wxyz": [0.9184355132985917, 0.021870003375255027, 0.3948747810485155, -0.008474559351691783], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9661, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 20, "teleop_active": true, "observed_at": 1792583562.0648649, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456011581e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.91099447414615e-18, -2.4202189495450196e-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": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000056}], "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": -0.002478399174710553, "shoulder_lift": -0.9570554796674932, "elbow_flex": 0.1429218092235206, "wrist_flex": 1.6266237450083392, "wrist_roll": -1.5515045779059268e-06, "gripper": 0.9996571013931931}, "velocities": {"shoulder_pan": -1.9640688511362666e-07, "shoulder_lift": 0.00033593357564283067, "elbow_flex": 0.012494943634507925, "wrist_flex": 0.0012409059327980016, "wrist_roll": -5.90340510974442e-07, "gripper": -0.16968410085705096}, "actuator_forces": {"shoulder_pan": -3.1517518062074146e-07, "shoulder_lift": -0.0003018582889353638, "elbow_flex": -0.0006395933078806593, "wrist_flex": 8.907261053536786e-05, "wrist_roll": 3.2155807820513464e-07, "gripper": -2.991155229945093}, "applied_targets": {"shoulder_pan": -0.0024783987818967827, "shoulder_lift": -0.9570561515346444, "elbow_flex": 0.1428968193362516, "wrist_flex": 1.6266212631964736, "wrist_roll": -1.5503238968839779e-06, "gripper": 0.9969999799978735}, "tcp": {"position_m": [0.18592573345484664, 0.00035330642550447883, 0.18495428951969925], "quaternion_wxyz": [0.9183557808801561, 0.02186786993010832, 0.3950601971157583, -0.008479188851302012], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9662, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 21, "teleop_active": true, "observed_at": 1792583562.1415472, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456012638e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.3532255014827042e-17, -1.1466499027741593e-17, -0.023720177500168776], "contacts": [{"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": 0.06131249999999998}, {"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": 1.7020000000000013, "positions": {"shoulder_pan": -0.002478363195897773, "shoulder_lift": -0.9570240652024278, "elbow_flex": 0.1436059790179905, "wrist_flex": 1.626769515964828, "wrist_roll": -1.6578366800945942e-06, "gripper": 1.0022078112830342}, "velocities": {"shoulder_pan": -5.4728403200096825e-06, "shoulder_lift": 0.0003636608933079022, "elbow_flex": 0.004398384752211428, "wrist_flex": 0.0019833186928648015, "wrist_roll": -1.7793796735835876e-06, "gripper": -0.06275942619030367}, "actuator_forces": {"shoulder_pan": -2.984196234567804e-05, "shoulder_lift": -0.009576312527883601, "elbow_flex": -0.4321501311488305, "wrist_flex": -0.06534163541005, "wrist_roll": 3.298982790774017e-05, "gripper": -2.561720902076445}, "applied_targets": {"shoulder_pan": -0.0024783941202919406, "shoulder_lift": -0.957033330267058, "elbow_flex": 0.14318807648730075, "wrist_flex": 1.6267061743624722, "wrist_roll": -1.6261495507927768e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18589678592442815, 0.0003532286601445249, 0.18480079331059213], "quaternion_wxyz": [0.9181826777725345, 0.02186321393145825, 0.39546239134745853, -0.008489236997164624], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9663, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 22, "teleop_active": true, "observed_at": 1792583562.286229, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456014471e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 8.892913363147483e-18, -1.5929065842507964e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999994}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": 1.8020000000000014, "positions": {"shoulder_pan": -0.0003775722789069209, "shoulder_lift": -0.9545625440523884, "elbow_flex": 0.14743818270315884, "wrist_flex": 1.6286098661987494, "wrist_roll": -1.52085399629735e-06, "gripper": 0.959858698390045}, "velocities": {"shoulder_pan": 0.018950663126652664, "shoulder_lift": -0.041997229884054244, "elbow_flex": -0.013305467006036437, "wrist_flex": 0.012668253939756288, "wrist_roll": -1.909984332451297e-05, "gripper": 0.0561237709791228}, "actuator_forces": {"shoulder_pan": 0.33756863221012423, "shoulder_lift": 0.6706116463346916, "elbow_flex": 0.6084784884381236, "wrist_flex": 0.20668212209648118, "wrist_roll": -0.00017727720145462597, "gripper": 3.35}, "applied_targets": {"shoulder_pan": -6.717119812506365e-05, "shoulder_lift": -0.9539984563932685, "elbow_flex": 0.1479233659043625, "wrist_flex": 1.6287910708549043, "wrist_roll": -1.7025662907861168e-06, "gripper": 0.9701779092144968}, "tcp": {"position_m": [0.18576994096900679, 4.9803895367838856e-05, 0.18357218238290704], "quaternion_wxyz": [0.916537904247679, 0.02223041647490642, 0.39921583879931577, -0.00952852099661815], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9664, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 23, "teleop_active": true, "observed_at": 1792583562.3637347, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456015211e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.568992558240536e-17, -1.1190118989664877e-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": 0.06131249999999998}, {"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": 1.9020000000000015, "positions": {"shoulder_pan": -0.0006115797124788509, "shoulder_lift": -0.9581632549332946, "elbow_flex": 0.1408206428019973, "wrist_flex": 1.6244109969077218, "wrist_roll": -1.8130814383319868e-06, "gripper": 0.9924793099429557}, "velocities": {"shoulder_pan": -0.002900957973796885, "shoulder_lift": -0.04692412829992002, "elbow_flex": -0.04443391075362692, "wrist_flex": 0.006321919033648839, "wrist_roll": 1.7514224279607632e-06, "gripper": -0.1426339581954025}, "actuator_forces": {"shoulder_pan": -0.04224509560263923, "shoulder_lift": 0.23151957501613651, "elbow_flex": 0.18641710474781803, "wrist_flex": 0.13755056063564552, "wrist_roll": 8.975774384873281e-05, "gripper": 3.35}, "applied_targets": {"shoulder_pan": -0.0006570556384011739, "shoulder_lift": -0.9579951566067609, "elbow_flex": 0.14091172055420265, "wrist_flex": 1.6245277788578945, "wrist_roll": -1.7207845980211967e-06, "gripper": 0.9954119921875003}, "tcp": {"position_m": [0.18616262721504306, 7.800669878965785e-05, 0.18568707634702658], "quaternion_wxyz": [0.9193760069700094, 0.022263649909871237, 0.39263973624693055, -0.009280367477215523], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9665, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 25, "teleop_active": true, "observed_at": 1792583562.7427604, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456016708e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.2038011008005405e-17, -2.54947038168304e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000056}, {"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": 2.002000000000001, "positions": {"shoulder_pan": -0.0006432412286981666, "shoulder_lift": -0.9580223799083943, "elbow_flex": 0.14155452312564906, "wrist_flex": 1.6247456804316682, "wrist_roll": -1.877851502143672e-06, "gripper": 0.9996147142030758}, "velocities": {"shoulder_pan": 4.9917192382883675e-05, "shoulder_lift": 0.0005436074836045859, "elbow_flex": 0.013107784521306589, "wrist_flex": 0.00111626161102917, "wrist_roll": -5.755993943776546e-07, "gripper": -0.1714328392000986}, "actuator_forces": {"shoulder_pan": -0.0001658156638002506, "shoulder_lift": -0.0010022164935890032, "elbow_flex": -0.002664403299888818, "wrist_flex": 0.0005885823304652149, "wrist_roll": 2.778764892773407e-07, "gripper": -2.938855399679369}, "applied_targets": {"shoulder_pan": -0.0006433410630829324, "shoulder_lift": -0.9580234671233615, "elbow_flex": 0.14152830755660645, "wrist_flex": 1.6247434479084462, "wrist_roll": -1.8767003033549167e-06, "gripper": 0.9969999799978735}, "tcp": {"position_m": [0.18611266227262285, 8.350912683652146e-05, 0.1855263401733456], "quaternion_wxyz": [0.9191778203620158, 0.02225132455523491, 0.39310430830573556, -0.00927447580948131], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9666, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 26, "teleop_active": true, "observed_at": 1792583562.8201132, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456018367e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.623237159327174e-17, -8.206012610913486e-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": 0.06131249999999998}, {"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": -0.0006432039458330765, "shoulder_lift": -0.9579919486746657, "elbow_flex": 0.14223814282966785, "wrist_flex": 1.6248933262650946, "wrist_roll": -1.9842354670044922e-06, "gripper": 1.0029485648316825}, "velocities": {"shoulder_pan": -5.690188423541898e-06, "shoulder_lift": 0.00035275798326331553, "elbow_flex": 0.004084975809691004, "wrist_flex": 0.0020200752147051543, "wrist_roll": -1.7883596077773687e-06, "gripper": 0.09590907885245686}, "actuator_forces": {"shoulder_pan": -1.9246156409136184e-05, "shoulder_lift": -0.009094286311437827, "elbow_flex": -0.4331792104828196, "wrist_flex": -0.06687167676432182, "wrist_roll": 3.2869690125501274e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.0006432231152936898, "shoulder_lift": -0.958000758660704, "elbow_flex": 0.14181941969299391, "wrist_flex": 1.6248285009036534, "wrist_roll": -1.9526490348681825e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18608399834514594, 8.346964146461577e-05, 0.18537222538367823], "quaternion_wxyz": [0.9190051012155735, 0.022247066740873574, 0.39350793005229595, -0.00928444651756128], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9667, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 27, "teleop_active": true, "observed_at": 1792583562.9069133, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456020285e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.1787071845019923e-17, -2.9153655139173635e-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": 0.06131249999999998}, {"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": 2.201999999999979, "positions": {"shoulder_pan": -0.0006432453179087259, "shoulder_lift": -0.9579634249728305, "elbow_flex": 0.14243795465894277, "wrist_flex": 1.624995440560322, "wrist_roll": -2.088870138066237e-06, "gripper": 1.0000373014046713}, "velocities": {"shoulder_pan": -2.3163190030586783e-07, "shoulder_lift": 0.00029445640101499835, "elbow_flex": -0.004044886612911951, "wrist_flex": 0.0005579929034127897, "wrist_roll": -1.029779743212599e-06, "gripper": -0.0003415912246691591}, "actuator_forces": {"shoulder_pan": 6.098898312378864e-06, "shoulder_lift": -0.014963640632117858, "elbow_flex": -0.32055165626343296, "wrist_flex": -0.08119042162820733, "wrist_roll": 6.029424010448384e-05, "gripper": -0.03759875577861749}, "applied_targets": {"shoulder_pan": -0.0006432398217585024, "shoulder_lift": -0.9579782013750617, "elbow_flex": 0.14211198606310907, "wrist_flex": 1.6249147488046416, "wrist_roll": -2.0294364512731666e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1860692034171328, 8.346866295255728e-05, 0.1853162758465809], "quaternion_wxyz": [0.9189362739803993, 0.022245377894838787, 0.3936686342091872, -0.009288377964363095], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9668, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 28, "teleop_active": true, "observed_at": 1792583563.0559742, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456021036e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 5.767922731296068e-19, 5.613793747258192e-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": -0.0018029749896279442, "shoulder_lift": -0.9535278759798194, "elbow_flex": 0.14924707539384802, "wrist_flex": 1.6280228993522734, "wrist_roll": -2.1938536267634507e-06, "gripper": 0.9904207658326984}, "velocities": {"shoulder_pan": -0.00469286152104854, "shoulder_lift": 0.04961973938014249, "elbow_flex": 0.03675611695219943, "wrist_flex": 0.0014195073988261739, "wrist_roll": 1.049872208830763e-06, "gripper": 0.009106915260574888}, "actuator_forces": {"shoulder_pan": 0.03357163097597482, "shoulder_lift": -0.34814875526092237, "elbow_flex": -0.7893496345476478, "wrist_flex": -0.24716415774582856, "wrist_roll": 8.557483697375478e-05, "gripper": 0.46086504162553865}, "applied_targets": {"shoulder_pan": -0.001775697762421413, "shoulder_lift": -0.9538072974270478, "elbow_flex": 0.14854320588504735, "wrist_flex": 1.627793139123673, "wrist_roll": -2.106093029194033e-06, "gripper": 0.9908240043771269}, "tcp": {"position_m": [0.18585934195495976, 0.0002524630720673964, 0.18320234798805524], "quaternion_wxyz": [0.9161454486557215, 0.02194512585515184, 0.4001454319767384, -0.00891973243757078], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9669, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 30, "teleop_active": true, "observed_at": 1792583563.1759183, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174560218915e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.0161993903017973e-17, 1.041099420944577e-17, -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": 0.061312499999999465}, {"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": 2.401999999999957, "positions": {"shoulder_pan": -0.001983283014357815, "shoulder_lift": -0.9529751745026773, "elbow_flex": 0.1465074662825828, "wrist_flex": 1.6237887294152096, "wrist_roll": -2.2983245166688385e-06, "gripper": 0.9998446301877468}, "velocities": {"shoulder_pan": 0.03397128447779674, "shoulder_lift": 0.05189927464292305, "elbow_flex": 0.1448462459532356, "wrist_flex": 0.16473498700773992, "wrist_roll": -1.1148328618462532e-05, "gripper": -0.001644750794357011}, "actuator_forces": {"shoulder_pan": 0.6757432412284936, "shoulder_lift": 1.3970816531397077, "elbow_flex": 2.6669410921357724, "wrist_flex": 2.8235540045168364, "wrist_roll": -1.0039498086907538e-06, "gripper": 0.17801540948357797}, "applied_targets": {"shoulder_pan": -0.0013733042486617087, "shoulder_lift": -0.9516779526402023, "elbow_flex": 0.14891121993112544, "wrist_flex": 1.626308802259329, "wrist_roll": -2.2760278594319036e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1865134453665695, 0.0002916842875660296, 0.1841763488684256], "quaternion_wxyz": [0.9175350721818385, 0.021930698159934314, 0.39695384258429817, -0.008722537018911375], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9670, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 31, "teleop_active": true, "observed_at": 1792583563.3241415, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456022762e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.7750697372998357e-17, -7.552442908897801e-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": 0.06131249999999998}, {"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": -0.0013729014565662413, "shoulder_lift": -0.9515803569317071, "elbow_flex": 0.15192987977128064, "wrist_flex": 1.6283260553429257, "wrist_roll": -2.378216012004741e-06, "gripper": 0.9999985551576331}, "velocities": {"shoulder_pan": 6.448283454381515e-06, "shoulder_lift": 0.006198996027125803, "elbow_flex": 0.010539531990835696, "wrist_flex": 0.0035576071706997555, "wrist_roll": -1.6093798642415795e-06, "gripper": -0.00020945901370464774}, "actuator_forces": {"shoulder_pan": -0.0061625359633903365, "shoulder_lift": 0.013533159231087666, "elbow_flex": -0.4155190763037808, "wrist_flex": -0.06008594759919106, "wrist_roll": 3.340083560169661e-05, "gripper": 0.001649255828965579}, "applied_targets": {"shoulder_pan": -0.0013789871414742305, "shoulder_lift": -0.9515614804954942, "elbow_flex": 0.15153011689310028, "wrist_flex": 1.62826991385477, "wrist_roll": -2.3460290164178145e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18589775420932175, 0.00019066774891339256, 0.18240894735510063], "quaternion_wxyz": [0.915126634636211, 0.022003021564624033, 0.4024612117810626, -0.00916965828959733], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9671, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 32, "teleop_active": true, "observed_at": 1792583563.614863, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.79991745602462e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.0051059399835025e-17, -7.26062228325089e-19, -0.023720177500168776], "contacts": [{"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}, {"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": 2.601999999999935, "positions": {"shoulder_pan": -0.0013777085271694648, "shoulder_lift": -0.9515065532841102, "elbow_flex": 0.15215400617442676, "wrist_flex": 1.6284349766189752, "wrist_roll": -2.479419800070807e-06, "gripper": 0.9999964553372389}, "velocities": {"shoulder_pan": 5.963725864861711e-06, "shoulder_lift": 0.00039087764016712556, "elbow_flex": -0.004083081873663589, "wrist_flex": 0.0005892016313887674, "wrist_roll": -1.002966073270089e-06, "gripper": 2.2026263371505406e-06}, "actuator_forces": {"shoulder_pan": 0.00028077889281852286, "shoulder_lift": -0.016013535101251364, "elbow_flex": -0.32246533273180944, "wrist_flex": -0.07853323580116012, "wrist_roll": 5.92103393747441e-05, "gripper": 0.003515409752026244}, "applied_targets": {"shoulder_pan": -0.0013774235169873711, "shoulder_lift": -0.9515223044622422, "elbow_flex": 0.15182606350825106, "wrist_flex": 1.628356965947995, "wrist_roll": -2.4210481017707658e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18588361014984914, 0.0001913558699042316, 0.1823386281208022], "quaternion_wxyz": [0.9150353507675002, 0.02199973533808687, 0.4026688241896921, -0.009172595954406209], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9672, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 33, "teleop_active": true, "observed_at": 1792583563.6920044, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456026511e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.826424022689819e-17, 1.6905118232336428e-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": 0.06131249999999999}], "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": -0.0013775142162060598, "shoulder_lift": -0.9514728749603799, "elbow_flex": 0.1524144071731499, "wrist_flex": 1.628524239161539, "wrist_roll": -2.5671949764311e-06, "gripper": 0.9999964698988978}, "velocities": {"shoulder_pan": -5.4263337427179864e-08, "shoulder_lift": 0.00023175703178981546, "elbow_flex": -0.00046757679254051784, "wrist_flex": 9.744658091351529e-05, "wrist_roll": -3.94066040902384e-07, "gripper": -5.158024512401301e-07}, "actuator_forces": {"shoulder_pan": -5.323926234535037e-06, "shoulder_lift": -0.023681900977521764, "elbow_flex": -0.2925540993157085, "wrist_flex": -0.08346522405827272, "wrist_roll": 7.135191893945653e-05, "gripper": 0.003504259239662133}, "applied_targets": {"shoulder_pan": -0.0013775196001034602, "shoulder_lift": -0.9514963907197967, "elbow_flex": 0.1521205087020403, "wrist_flex": 1.6284407699294308, "wrist_roll": -2.4961328637318822e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18586908560780904, 0.00019130622226342552, 0.1822768612351012], "quaternion_wxyz": [0.9149593521965999, 0.021997848401431697, 0.40284148473083253, -0.009176964288044012], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9673, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 35, "teleop_active": true, "observed_at": 1792583563.8797424, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174560286525e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.461106351542265e-17, -5.237455337708529e-19, -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": 0.06131249999999999}, {"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": 2.801999999999913, "positions": {"shoulder_pan": -0.002272837176567786, "shoulder_lift": -0.9456798630106917, "elbow_flex": 0.1583990641016921, "wrist_flex": 1.628689840677677, "wrist_roll": -2.654704973544156e-06, "gripper": 0.9999965587837485}, "velocities": {"shoulder_pan": -0.00028269731803813163, "shoulder_lift": -0.03303187237030106, "elbow_flex": -0.011550196150930517, "wrist_flex": 0.0008087504171180259, "wrist_roll": -5.366228368475321e-07, "gripper": -2.629127407911479e-06}, "actuator_forces": {"shoulder_pan": 0.0009455103611406557, "shoulder_lift": 0.11039937269242728, "elbow_flex": 0.07742170480932486, "wrist_flex": 0.0016562211487780587, "wrist_roll": 2.376521189961095e-07, "gripper": 0.003406565597288136}, "applied_targets": {"shoulder_pan": -0.00227227178193171, "shoulder_lift": -0.9456137992659511, "elbow_flex": 0.15842216449399396, "wrist_flex": 1.628688223176843, "wrist_roll": -2.653631727870461e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18608615258068092, 0.0003233601840765452, 0.18042352882251966], "quaternion_wxyz": [0.9125238718035573, 0.02175202338880006, 0.4083475817230524, -0.00890423315464996], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9674, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 36, "teleop_active": true, "observed_at": 1792583563.9542356, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456030788e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.896303257186883e-17, -1.211256986225549e-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": 0.0613125}, {"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": 2.901999999999902, "positions": {"shoulder_pan": -0.0010717136987176293, "shoulder_lift": -0.9386042401256068, "elbow_flex": 0.16633144302132152, "wrist_flex": 1.6295919643287786, "wrist_roll": -2.817427532734017e-06, "gripper": 0.9999960311555977}, "velocities": {"shoulder_pan": -0.011638137132125914, "shoulder_lift": 0.049057697811740686, "elbow_flex": 0.01312470852370451, "wrist_flex": 0.0008696803868554481, "wrist_roll": 1.8981510596531056e-05, "gripper": 7.499138514345084e-05}, "actuator_forces": {"shoulder_pan": -0.35048560539691564, "shoulder_lift": -2.4776536356744145, "elbow_flex": -2.842880774471382, "wrist_flex": -0.3348237874233746, "wrist_roll": 8.193097202718273e-05, "gripper": 0.0039342701358009435}, "applied_targets": {"shoulder_pan": -0.001388085904614087, "shoulder_lift": -0.9407653762170989, "elbow_flex": 0.16381261254637172, "wrist_flex": 1.6292849774442997, "wrist_roll": -2.727736502787795e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1861999630601725, 0.00014326995239406467, 0.17801641521469455], "quaternion_wxyz": [0.9092856590669471, 0.021919535769368483, 0.4154831227789064, -0.009638405092691498], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9675, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 37, "teleop_active": true, "observed_at": 1792583564.0918202, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456032959e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.048439755350295e-17, -4.8714875545116866e-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": 0.06131249999999999}, {"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": 3.001999999999891, "positions": {"shoulder_pan": -0.001365966334457264, "shoulder_lift": -0.9406224675207023, "elbow_flex": 0.1644623570350584, "wrist_flex": 1.6294316826894655, "wrist_roll": -2.850005497181162e-06, "gripper": 0.9999964635495895}, "velocities": {"shoulder_pan": -7.206823439256101e-05, "shoulder_lift": 0.0003020179111702479, "elbow_flex": -0.0053205045453351115, "wrist_flex": 0.0005874526425290791, "wrist_roll": -1.0049026072406509e-06, "gripper": 8.494997215625698e-07}, "actuator_forces": {"shoulder_pan": -0.0031228839393269148, "shoulder_lift": -0.10725793494759728, "elbow_flex": -0.3463909626354109, "wrist_flex": -0.07529958111854285, "wrist_roll": 5.645324695164374e-05, "gripper": 0.003508729401119126}, "applied_targets": {"shoulder_pan": -0.0013691455605191762, "shoulder_lift": -0.9407269973465477, "elbow_flex": 0.16410923256997442, "wrist_flex": 1.6293568811062693, "wrist_roll": -2.7943752369758165e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18615145158023827, 0.00018997500032635775, 0.17860726494806342], "quaternion_wxyz": [0.9100981999815864, 0.02187455932565195, 0.4137069775507389, -0.009450225945295423], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9676, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 38, "teleop_active": true, "observed_at": 1792583564.1651278, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456034837e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.4463953699345436e-17, -3.08686198452134e-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": 0.0613125}], "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": -0.0019585646012339223, "shoulder_lift": -0.9346239122263845, "elbow_flex": 0.17037950017217143, "wrist_flex": 1.6292445886315072, "wrist_roll": -2.950001326672187e-06, "gripper": 0.9999964709075454}, "velocities": {"shoulder_pan": -0.0026033441724872845, "shoulder_lift": 0.057848615480839014, "elbow_flex": 0.037722124423349795, "wrist_flex": 0.00031255070860709616, "wrist_roll": 1.3442384426366792e-06, "gripper": -5.4576881981994975e-06}, "actuator_forces": {"shoulder_pan": -0.030824256962484586, "shoulder_lift": -0.49469748973353944, "elbow_flex": -0.7075993083701348, "wrist_flex": -0.08199156617024528, "wrist_roll": 8.0555872359295e-05, "gripper": 0.0035211085458968228}, "applied_targets": {"shoulder_pan": -0.001992324967533352, "shoulder_lift": -0.9350241610852071, "elbow_flex": 0.16974423337065817, "wrist_flex": 1.6291629324967387, "wrist_roll": -2.867356781664319e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18637070538396663, 0.00027695783961038543, 0.17682203117985235], "quaternion_wxyz": [0.9077014411339304, 0.02168953430320647, 0.41895218106605536, -0.009312778591337206], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9677, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 40, "teleop_active": true, "observed_at": 1792583564.5409806, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456036908e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.0715662594263456e-17, -1.1370981109479909e-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": 0.06131250000000001}, {"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": 3.201999999999869, "positions": {"shoulder_pan": -0.001871713877641168, "shoulder_lift": -0.9312819025388331, "elbow_flex": 0.1747477960873719, "wrist_flex": 1.6303856921218296, "wrist_roll": -2.9666296361914214e-06, "gripper": 0.9999964603238249}, "velocities": {"shoulder_pan": -0.07186231513699114, "shoulder_lift": 0.10240568024146451, "elbow_flex": 0.11881958683200157, "wrist_flex": 0.010777846466552235, "wrist_roll": 2.1512373302492203e-05, "gripper": -2.8833460478785636e-05}, "actuator_forces": {"shoulder_pan": -1.3680284719331341, "shoulder_lift": 2.9922029176892693, "elbow_flex": 2.735194111146427, "wrist_flex": 0.19914635530358282, "wrist_roll": 1.7414929186906555e-06, "gripper": 0.0034539412970389094}, "applied_targets": {"shoulder_pan": -0.0030987048343316084, "shoulder_lift": -0.9285559289605418, "elbow_flex": 0.17720010837552594, "wrist_flex": 1.6305636444535723, "wrist_roll": -3.0096543827965384e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18629669675992377, 0.00024358043790179428, 0.17552988647614076], "quaternion_wxyz": [0.9058950832084458, 0.02168945463300298, 0.4228394497881383, -0.009511334257083117], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9678, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 41, "teleop_active": true, "observed_at": 1792583564.6144307, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174560390355e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.506783918867607e-17, -6.147375898330996e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"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": 3.301999999999858, "positions": {"shoulder_pan": -0.0038575629117690927, "shoulder_lift": -0.9222333551841558, "elbow_flex": 0.18537512152213656, "wrist_flex": 1.6320014620292238, "wrist_roll": -3.085524115238953e-06, "gripper": 0.9999961183761825}, "velocities": {"shoulder_pan": 0.0032631054027991626, "shoulder_lift": 0.022249280581183264, "elbow_flex": -0.009416012738330287, "wrist_flex": -0.01395851833189525, "wrist_roll": -1.2608273437001813e-05, "gripper": 6.887014080876113e-05}, "actuator_forces": {"shoulder_pan": 0.21032016464856218, "shoulder_lift": -1.872413482574757, "elbow_flex": -2.437390212587104, "wrist_flex": -0.4748626770513056, "wrist_roll": -1.3594961670045699e-05, "gripper": 0.003842527778829208}, "applied_targets": {"shoulder_pan": -0.0036693277850236906, "shoulder_lift": -0.923883785227046, "elbow_flex": 0.18319443184679005, "wrist_flex": 1.6315649623687893, "wrist_roll": -3.1041505676772725e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1862540009644419, 0.0005584106434849312, 0.17222329784133056], "quaternion_wxyz": [0.9012518368188744, 0.02110556898174784, 0.43269201567584586, -0.008792107764060437], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9679, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 42, "teleop_active": true, "observed_at": 1792583564.6879523, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456040735e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.900340464476756e-17, -3.115097979887097e-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": 0.06131250000000001}, {"geom": "pickup_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": -6.825604725294032e-05}, "simulation_time": 3.401999999999847, "positions": {"shoulder_pan": -0.004289135208027309, "shoulder_lift": -0.9204057100157819, "elbow_flex": 0.18676805972124466, "wrist_flex": 1.631131453348916, "wrist_roll": -3.32169275278029e-06, "gripper": 0.999996771811257}, "velocities": {"shoulder_pan": 0.004426246574285468, "shoulder_lift": -0.044044470204632, "elbow_flex": -0.021657926579333985, "wrist_flex": 0.0036467703626089135, "wrist_roll": 2.2415651590960343e-06, "gripper": -1.2991730543340763e-05}, "actuator_forces": {"shoulder_pan": -0.11784630002577057, "shoulder_lift": 0.8866157829739905, "elbow_flex": 0.457888207390738, "wrist_flex": -0.16892105098486354, "wrist_roll": 0.00015041754805738064, "gripper": 0.0031895455783796933}, "applied_targets": {"shoulder_pan": -0.004393000292578615, "shoulder_lift": -0.9196606373893323, "elbow_flex": 0.18711853996013747, "wrist_flex": 1.6309726414251076, "wrist_roll": -3.1740212631680854e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18642986059193145, 0.0006231344026442767, 0.17180909440362396], "quaternion_wxyz": [0.9007182411284297, 0.020996384226602785, 0.4338103421260708, -0.008624906514166168], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9680, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 43, "teleop_active": true, "observed_at": 1792583564.826227, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456042501e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.3980791238023982e-17, -1.9044446632185394e-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": 0.0613125}], "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": -0.004308696391350671, "shoulder_lift": -0.9156884431939143, "elbow_flex": 0.19267295185675865, "wrist_flex": 1.632425561416411, "wrist_roll": -3.30881998191128e-06, "gripper": 0.9999964604032376}, "velocities": {"shoulder_pan": 0.00011745223054362332, "shoulder_lift": 0.03836584106589053, "elbow_flex": 0.025390961165754462, "wrist_flex": 0.00589195330494892, "wrist_roll": -3.269966442760194e-07, "gripper": -3.418922978215821e-06}, "actuator_forces": {"shoulder_pan": 6.915331181645001e-05, "shoulder_lift": -0.35918507001497346, "elbow_flex": -0.6878736720452991, "wrist_flex": -0.11670838585723686, "wrist_roll": 6.039168250851013e-05, "gripper": 0.003527687553173564}, "applied_targets": {"shoulder_pan": -0.00430846457818336, "shoulder_lift": -0.9159876515784846, "elbow_flex": 0.1920459636323607, "wrist_flex": 1.632316815599834, "wrist_roll": -3.2486177258874728e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18629876258958314, 0.0006241846089878407, 0.17005531319597128], "quaternion_wxyz": [0.8981759990195025, 0.020920810182199278, 0.4390507702190215, -0.008753036999946309], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9681, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 45, "teleop_active": true, "observed_at": 1792583564.9358144, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456044413e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.4570820400932156e-17, -1.6439696338566017e-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": 0.06131250000000001}, {"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": 3.601999999999825, "positions": {"shoulder_pan": -0.005207060558686188, "shoulder_lift": -0.9113873140107824, "elbow_flex": 0.19759978065168318, "wrist_flex": 1.6332041156155528, "wrist_roll": -3.469728118519206e-06, "gripper": 0.9999964510452156}, "velocities": {"shoulder_pan": 0.11712529109382332, "shoulder_lift": 0.10050130537263324, "elbow_flex": 0.11499741314345177, "wrist_flex": 0.07208235344380852, "wrist_roll": -3.796481236736303e-05, "gripper": -3.5037579539133815e-05}, "actuator_forces": {"shoulder_pan": 2.235745693988865, "shoulder_lift": 3.0127933879493867, "elbow_flex": 2.748130944646789, "wrist_flex": 1.2727458070178272, "wrist_roll": 3.309180880081697e-07, "gripper": 0.003451271963626823}, "applied_targets": {"shoulder_pan": -0.0032017614260223064, "shoulder_lift": -0.9086497033991691, "elbow_flex": 0.20006349875464083, "wrist_flex": 1.6343380008479838, "wrist_roll": -3.3937984937849e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18625226151117885, 0.0007909208338464062, 0.1686100398702594], "quaternion_wxyz": [0.896070047162697, 0.02060918352408766, 0.443355308813342, -0.008354775840095925], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9682, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 46, "teleop_active": true, "observed_at": 1792583565.074992, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456046462e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.1102410481969577e-17, -6.004444917233408e-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": 0.06131249999999999}, {"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": 3.701999999999814, "positions": {"shoulder_pan": -0.004452051212453281, "shoulder_lift": -0.9012587590013218, "elbow_flex": 0.20897306744011282, "wrist_flex": 1.634145130313145, "wrist_roll": -3.3948115839210593e-06, "gripper": 0.9999961575600338}, "velocities": {"shoulder_pan": 0.018293075486020646, "shoulder_lift": 0.026601300501228775, "elbow_flex": -0.010919321603594725, "wrist_flex": 0.00017052450390461684, "wrist_roll": -2.5653485617985497e-05, "gripper": 5.768062665206588e-05}, "actuator_forces": {"shoulder_pan": 0.3566752160229534, "shoulder_lift": -2.153555480413388, "elbow_flex": -2.2907702077523595, "wrist_flex": 0.021579490404974422, "wrist_roll": -1.1003724147713029e-06, "gripper": 0.0038077140061432146}, "applied_targets": {"shoulder_pan": -0.004127008611974124, "shoulder_lift": -0.90314826697857, "elbow_flex": 0.20691421553392308, "wrist_flex": 1.634157217791999, "wrist_roll": -3.4088767293388922e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18614709330240342, 0.0006500046781537738, 0.16512215845693373], "quaternion_wxyz": [0.8909125840128739, 0.02067181940426358, 0.45361400398416796, -0.009043169769085226], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9683, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 47, "teleop_active": true, "observed_at": 1792583565.1481125, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456047658e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.0214430211093524e-18, -2.2070334648263567e-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": 0.06131249999999999}], "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": -0.00548581826697303, "shoulder_lift": -0.9006682939582921, "elbow_flex": 0.21118107014619006, "wrist_flex": 1.635913508419468, "wrist_roll": -3.700245311626602e-06, "gripper": 0.999996875430579}, "velocities": {"shoulder_pan": -0.006956889522765271, "shoulder_lift": -0.04054697042704705, "elbow_flex": -0.014400040155575437, "wrist_flex": 0.010031944820955877, "wrist_roll": 1.0019713126655934e-05, "gripper": -2.08230752249961e-05}, "actuator_forces": {"shoulder_pan": -0.23643137923305435, "shoulder_lift": 0.6219358883612358, "elbow_flex": 0.60501693319776, "wrist_flex": 0.2100014088775879, "wrist_roll": 0.00021510006863100948, "gripper": 0.0030862846014088063}, "applied_targets": {"shoulder_pan": -0.005700035347612983, "shoulder_lift": -0.9001509288829999, "elbow_flex": 0.21166013825408223, "wrist_flex": 1.6360976896746053, "wrist_roll": -3.485474497060761e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18585100978381056, 0.0007932378911723655, 0.1644698559097719], "quaternion_wxyz": [0.8898513683884185, 0.020417316781796493, 0.4557111995332738, -0.008658982193947026], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9684, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 1951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 48, "teleop_active": true, "observed_at": 1792583565.4233897, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456048196e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.5136221762195242e-17, -2.5419327502057726e-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": 3.901999999999792, "positions": {"shoulder_pan": -0.003982994996817241, "shoulder_lift": -0.8935015242889051, "elbow_flex": 0.2186214160115639, "wrist_flex": 1.6358994149569033, "wrist_roll": -3.6097571944175878e-06, "gripper": 0.9999964640539699}, "velocities": {"shoulder_pan": 0.0069571860866517125, "shoulder_lift": 0.06479384668075018, "elbow_flex": 0.044472040365204676, "wrist_flex": -0.0009331941304825654, "wrist_roll": -2.0868577137564924e-06, "gripper": -6.6471829719634015e-06}, "actuator_forces": {"shoulder_pan": -0.08380493987889137, "shoulder_lift": -0.5328955776880093, "elbow_flex": -0.757918727522366, "wrist_flex": -0.11662759472210382, "wrist_roll": 3.419066694322062e-05, "gripper": 0.003530707436652847}, "applied_targets": {"shoulder_pan": -0.00405659375169978, "shoulder_lift": -0.8939324768492649, "elbow_flex": 0.2179467342971402, "wrist_flex": 1.6357823095144584, "wrist_roll": -3.5794933581195494e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1858444025050605, 0.0005763583000981895, 0.16228773450200057], "quaternion_wxyz": [0.8865675285702296, 0.0206608709818921, 0.4620404167259786, -0.009476233789268627], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9685, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 50, "teleop_active": true, "observed_at": 1792583565.5967278, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456050147e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.187332745348337e-17, -1.241160379532782e-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": 0.06131250000000001}, {"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": 4.001999999999781, "positions": {"shoulder_pan": -0.0038614631733568483, "shoulder_lift": -0.8886872332736765, "elbow_flex": 0.22415793511459067, "wrist_flex": 1.6363612339707285, "wrist_roll": -3.6269092200038434e-06, "gripper": 0.9999964670717938}, "velocities": {"shoulder_pan": -0.06719317921781545, "shoulder_lift": 0.09799190515155845, "elbow_flex": 0.11345394921422935, "wrist_flex": 0.0384847625991998, "wrist_roll": 2.0806113821237724e-05, "gripper": -3.286841410973047e-05}, "actuator_forces": {"shoulder_pan": -1.2961163620298621, "shoulder_lift": 3.011730850874528, "elbow_flex": 2.7550564493758714, "wrist_flex": 0.6783256784499372, "wrist_roll": 1.7801783364808366e-06, "gripper": 0.003439490450887206}, "applied_targets": {"shoulder_pan": -0.005025282557644243, "shoulder_lift": -0.8859571576146845, "elbow_flex": 0.2266220628677444, "wrist_flex": 1.6369672325798472, "wrist_roll": -3.668521447646076e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1857486614925868, 0.0005363335398281504, 0.1606951120356925], "quaternion_wxyz": [0.8841218923825981, 0.020655033283058576, 0.466698499318005, -0.0097138943895306], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9686, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 51, "teleop_active": true, "observed_at": 1792583565.6693275, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456052225e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.420567027183586e-17, 1.2244117839721004e-17, -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": 0.06131249999999999}], "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": -0.0024701462346689287, "shoulder_lift": -0.8771731621400561, "elbow_flex": 0.23718911300086098, "wrist_flex": 1.6371435650054307, "wrist_roll": -3.888615401891356e-06, "gripper": 0.9999960158134215}, "velocities": {"shoulder_pan": -0.04273231731516334, "shoulder_lift": 0.06223054275957447, "elbow_flex": 0.0274590520812832, "wrist_flex": 0.004616987960622007, "wrist_roll": 5.057928339830803e-05, "gripper": 6.935914434197737e-05}, "actuator_forces": {"shoulder_pan": -0.7220255923572858, "shoulder_lift": -2.5472314626667867, "elbow_flex": -2.907926035400777, "wrist_flex": -0.06351134997134977, "wrist_roll": 0.00011254306377979362, "gripper": 0.003956818057758937}, "applied_targets": {"shoulder_pan": -0.0031286004280501106, "shoulder_lift": -0.8793837887027189, "elbow_flex": 0.23462553551537665, "wrist_flex": 1.6370860238790432, "wrist_roll": -3.751000108164165e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18544879040932846, 0.000338403360961546, 0.15682722975125324], "quaternion_wxyz": [0.8780607239809406, 0.020807537106318375, 0.4779793632982128, -0.01058960162943071], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9687, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 52, "teleop_active": true, "observed_at": 1792583565.809323, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174560542295e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.496442004463701e-17, 2.6809929437497136e-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": 0.061312500000000006}, {"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": 4.201999999999759, "positions": {"shoulder_pan": -0.003915241118212089, "shoulder_lift": -0.8756287287132988, "elbow_flex": 0.23928628867174997, "wrist_flex": 1.637509989865805, "wrist_roll": -3.939298713657398e-06, "gripper": 0.999996906272117}, "velocities": {"shoulder_pan": 0.0012699011017567926, "shoulder_lift": -0.05531713894281183, "elbow_flex": -0.029671509913901696, "wrist_flex": -0.005685636633292498, "wrist_roll": 5.1319116852809505e-06, "gripper": -1.6155909377479362e-05}, "actuator_forces": {"shoulder_pan": -0.15664922297525363, "shoulder_lift": 0.9342492379664691, "elbow_flex": 0.6950426763237658, "wrist_flex": -0.07115026242581735, "wrist_roll": 0.00017281109939166431, "gripper": 0.003048043678177237}, "applied_targets": {"shoulder_pan": -0.004054801667644723, "shoulder_lift": -0.8748534041702738, "elbow_flex": 0.23983296013330993, "wrist_flex": 1.6374315550066094, "wrist_roll": -3.768343573854039e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18534698953510192, 0.0005627794720952689, 0.15618117938441162], "quaternion_wxyz": [0.8770203339117962, 0.020411832140000627, 0.479916016779488, -0.009965332530280112], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9688, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 53, "teleop_active": true, "observed_at": 1792583565.883853, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.79991745605607e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.231664121997475e-17, -2.6873695045926346e-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": 0.06131249999999998}, {"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": 4.301999999999748, "positions": {"shoulder_pan": -0.003442346927486348, "shoulder_lift": -0.8697803875686617, "elbow_flex": 0.2459909831251409, "wrist_flex": 1.6379027071540682, "wrist_roll": -3.877170293367099e-06, "gripper": 0.9999964712107444}, "velocities": {"shoulder_pan": 0.003512839909407794, "shoulder_lift": 0.04454652920577372, "elbow_flex": 0.031176391842094926, "wrist_flex": 0.0014070204103343044, "wrist_roll": -2.50999329125059e-06, "gripper": -4.527518412114133e-06}, "actuator_forces": {"shoulder_pan": 0.03267583509501337, "shoulder_lift": -0.4724533639841866, "elbow_flex": -0.7374033012242478, "wrist_flex": -0.011867200048527593, "wrist_roll": 4.1598051103759574e-05, "gripper": 0.0035194123726114412}, "applied_targets": {"shoulder_pan": -0.0034055598932280153, "shoulder_lift": -0.8701764069801056, "elbow_flex": 0.2453234983207057, "wrist_flex": 1.6378910555074886, "wrist_roll": -3.8388334829215885e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1851496810174544, 0.0004934700606984644, 0.15428324561551654], "quaternion_wxyz": [0.873975153826164, 0.020440588013120212, 0.4854310552749527, -0.01031035551553776], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9689, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 55, "teleop_active": true, "observed_at": 1792583566.0555422, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456058219e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.206794765362055e-17, -7.198214649553365e-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": 0.06131250000000001}, {"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": 4.401999999999737, "positions": {"shoulder_pan": -0.0031217300456068903, "shoulder_lift": -0.8649111163134277, "elbow_flex": 0.25128888542609684, "wrist_flex": 1.6381894797139491, "wrist_roll": -3.963991533391805e-06, "gripper": 0.9999964461764133}, "velocities": {"shoulder_pan": 0.019008656603869304, "shoulder_lift": 0.10257648973797653, "elbow_flex": 0.11185873567497936, "wrist_flex": 0.1639691142338482, "wrist_roll": -7.785009235087119e-06, "gripper": -4.680028229109873e-05}, "actuator_forces": {"shoulder_pan": 0.41771565574512515, "shoulder_lift": 3.0065135944429358, "elbow_flex": 2.7487819315722675, "wrist_flex": 2.9336376066371486, "wrist_roll": 1.764983809928941e-06, "gripper": 0.0034325547185289906}, "applied_targets": {"shoulder_pan": -0.002741681919903714, "shoulder_lift": -0.8621907458989099, "elbow_flex": 0.2537534135812944, "wrist_flex": 1.6408010963740305, "wrist_roll": -3.948421514921717e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18503682669588598, 0.00045073727972885774, 0.15279235678122755], "quaternion_wxyz": [0.8715723167791761, 0.020445657694329447, 0.48972693039566567, -0.01054539477043849], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9690, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 56, "teleop_active": true, "observed_at": 1792583566.316284, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.79991745605963e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.8994904220717015e-17, -1.3738345162141369e-17, -0.023720177500168776], "contacts": [{"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": 0.06131250000000001}, {"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": 4.501999999999726, "positions": {"shoulder_pan": -0.003190930973793064, "shoulder_lift": -0.8532048366661528, "elbow_flex": 0.26461679832636525, "wrist_flex": 1.638727666395506, "wrist_roll": -3.991417312685809e-06, "gripper": 0.9999961699727562}, "velocities": {"shoulder_pan": -0.0028343546640457193, "shoulder_lift": 0.049362403289835405, "elbow_flex": -0.003290650039512011, "wrist_flex": 0.0506302722161864, "wrist_roll": -7.640392708690775e-06, "gripper": 4.319334201347455e-05}, "actuator_forces": {"shoulder_pan": 0.12626845170574663, "shoulder_lift": -2.561915094317442, "elbow_flex": -2.282022371226333, "wrist_flex": 0.5116670224128939, "wrist_roll": -7.521860306181245e-06, "gripper": 0.0038078826003129507}, "applied_targets": {"shoulder_pan": -0.003079120306083032, "shoulder_lift": -0.8554300651443074, "elbow_flex": 0.2625675719375118, "wrist_flex": 1.6391974508820741, "wrist_roll": -4.001500800227564e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18451345730095114, 0.0004528007790883809, 0.14889600579345513], "quaternion_wxyz": [0.8650993962501893, 0.02026374284432938, 0.5010741705152463, -0.010820858374198123], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9691, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 57, "teleop_active": true, "observed_at": 1792583566.3882995, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456061781e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.3698300761013e-17, -1.0452090206809014e-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": 0.06131249999999999}, {"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": 4.601999999999715, "positions": {"shoulder_pan": -0.0033121229982544845, "shoulder_lift": -0.8514166300410032, "elbow_flex": 0.2669661479031757, "wrist_flex": 1.6385962032441728, "wrist_roll": -4.123976095008012e-06, "gripper": 0.999996863535155}, "velocities": {"shoulder_pan": 0.0018133210712569256, "shoulder_lift": -0.051417188238108494, "elbow_flex": -0.027212861295751338, "wrist_flex": 0.0010575326551436537, "wrist_roll": -1.3958898071213993e-06, "gripper": -1.4745918344347445e-05}, "actuator_forces": {"shoulder_pan": 0.0426971544513961, "shoulder_lift": 0.9712684409229269, "elbow_flex": 0.6197946585504042, "wrist_flex": -0.17441514125994217, "wrist_roll": 6.483894471033189e-05, "gripper": 0.0030930758799740943}, "applied_targets": {"shoulder_pan": -0.0032676451157116026, "shoulder_lift": -0.8506095540668765, "elbow_flex": 0.2674494993341108, "wrist_flex": 1.6384332477758752, "wrist_roll": -4.061277894479349e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18443006315553753, 0.0004715347666283244, 0.14823382661985252], "quaternion_wxyz": [0.864007199027531, 0.020201382606209697, 0.502957814134031, -0.010812093734116124], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9692, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 58, "teleop_active": true, "observed_at": 1792583566.5426095, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456064572e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.5882585332082816e-17, -4.287123422178081e-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": 0.061312500000000006}, {"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": 4.701999999999704, "positions": {"shoulder_pan": -0.003835946479616707, "shoulder_lift": -0.8455572367001221, "elbow_flex": 0.27423590178938334, "wrist_flex": 1.6395984251974962, "wrist_roll": -4.1859515360162255e-06, "gripper": 0.9999964929115346}, "velocities": {"shoulder_pan": -0.002543731807997612, "shoulder_lift": 0.04486272739998724, "elbow_flex": 0.03393046447372941, "wrist_flex": 0.005563061907883079, "wrist_roll": 1.5724902733193233e-06, "gripper": -4.778535295987865e-06}, "actuator_forces": {"shoulder_pan": -0.03793443037264588, "shoulder_lift": -0.47594708757435455, "elbow_flex": -0.7894298338784438, "wrist_flex": -0.07246844121391405, "wrist_roll": 6.221234842775005e-05, "gripper": 0.0034997776633645117}, "applied_targets": {"shoulder_pan": -0.0038766727469897776, "shoulder_lift": -0.8459580241106783, "elbow_flex": 0.2735253893963072, "wrist_flex": 1.6395330596031406, "wrist_roll": -4.121511417916524e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18399828114283823, 0.0005448793652843819, 0.14621874902720589], "quaternion_wxyz": [0.8605176144871625, 0.019975436530989408, 0.5089155565650598, -0.010741200063048026], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9693, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 60, "teleop_active": true, "observed_at": 1792583566.656208, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456064946e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.2482928518482395e-19, -2.478812134076482e-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": 0.06131250000000001}, {"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": 4.801999999999693, "positions": {"shoulder_pan": -0.003977049528940329, "shoulder_lift": -0.840392701180144, "elbow_flex": 0.2802616743979707, "wrist_flex": 1.639717805137695, "wrist_roll": -4.240131318765947e-06, "gripper": 0.9999965455636385}, "velocities": {"shoulder_pan": 0.01156391343218022, "shoulder_lift": 0.0976899935161823, "elbow_flex": 0.11684014520165202, "wrist_flex": -0.12831158878854265, "wrist_roll": -3.2903745808520482e-06, "gripper": -1.4903517370665445e-05}, "actuator_forces": {"shoulder_pan": 0.2725502495434524, "shoulder_lift": 2.997099650717928, "elbow_flex": 2.7668137445681396, "wrist_flex": -2.380194884809953, "wrist_roll": -2.8793428760200135e-07, "gripper": 0.00339794027422613}, "applied_targets": {"shoulder_pan": -0.003726000207997463, "shoulder_lift": -0.8376779416124224, "elbow_flex": 0.28272466444139555, "wrist_flex": 1.6375922862913275, "wrist_roll": -4.2335505696042625e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18369559072635833, 0.0005682480191422888, 0.1445571390942944], "quaternion_wxyz": [0.857628360055558, 0.019852286803813096, 0.5137733035105679, -0.010792374016451676], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9694, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 61, "teleop_active": true, "observed_at": 1792583566.7921875, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456065385e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.6140016173699386e-17, -2.237082149658093e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000008}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000008}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999994}, {"geom": "pickup_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": -6.825604725294032e-05}, "simulation_time": 4.901999999999682, "positions": {"shoulder_pan": -0.0018013147804812454, "shoulder_lift": -0.8281171783106789, "elbow_flex": 0.29330263034188125, "wrist_flex": 1.6388107808410328, "wrist_roll": -4.406791986069545e-06, "gripper": 0.993986002044848}, "velocities": {"shoulder_pan": -0.026022553662458887, "shoulder_lift": 0.08682826487098795, "elbow_flex": 0.12150824678341621, "wrist_flex": -0.007100153312812616, "wrist_roll": 3.7035006462459576e-05, "gripper": 0.10960065487627538}, "actuator_forces": {"shoulder_pan": -0.5513199681632741, "shoulder_lift": -2.7921949951033866, "elbow_flex": -3.35, "wrist_flex": -0.39837476167576824, "wrist_roll": 0.00010772139585542382, "gripper": 1.5794468789687244}, "applied_targets": {"shoulder_pan": -0.002301403838576191, "shoulder_lift": -0.8305246192236124, "elbow_flex": 0.2901946375120781, "wrist_flex": 1.63844586086467, "wrist_roll": -4.282315277331677e-06, "gripper": 0.9954119921875003}, "tcp": {"position_m": [0.1832692689133454, 0.00024143431956569656, 0.14089763182165688], "quaternion_wxyz": [0.851342490777726, 0.02026883577821996, 0.5240808962941307, -0.01201465072788719], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9695, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 62, "teleop_active": true, "observed_at": 1792583566.8649478, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174560671595e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.2266085175781732e-17, -8.016521435047883e-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": 0.0613125}, {"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": 5.001999999999671, "positions": {"shoulder_pan": -0.003759953294130307, "shoulder_lift": -0.8271507575640036, "elbow_flex": 0.29463371187710297, "wrist_flex": 1.6389613573154258, "wrist_roll": -4.547951801890653e-06, "gripper": 0.9995319838873544}, "velocities": {"shoulder_pan": -0.00924262997678075, "shoulder_lift": -0.040758152383383685, "elbow_flex": -0.021723950561423462, "wrist_flex": -0.006497101145490233, "wrist_roll": 1.3192972911550485e-05, "gripper": 0.05252604759475907}, "actuator_forces": {"shoulder_pan": -0.2708670463592955, "shoulder_lift": 0.7783243873734591, "elbow_flex": 0.642929608667032, "wrist_flex": -0.02798057495579087, "wrist_roll": 0.000238165459921935, "gripper": 0.49569107333923057}, "applied_targets": {"shoulder_pan": -0.004005755655298471, "shoulder_lift": -0.8265047280158528, "elbow_flex": 0.29513826713911256, "wrist_flex": 1.6389245482781436, "wrist_roll": -4.309292824288563e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18315853703725005, 0.0005287640751668428, 0.14046096175075545], "quaternion_wxyz": [0.8505700607526362, 0.019725361648982132, 0.5253723086006818, -0.01119907204474092], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9696, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 63, "teleop_active": true, "observed_at": 1792583566.9355283, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456068541e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.888320861040195e-17, -1.8374956069383606e-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": 0.06131249999999998}, {"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": 5.10199999999966, "positions": {"shoulder_pan": -0.004068514973616472, "shoulder_lift": -0.8207584081301272, "elbow_flex": 0.3021393851493627, "wrist_flex": 1.6392256218390606, "wrist_roll": -4.438997140279126e-06, "gripper": 1.0000000741407342}, "velocities": {"shoulder_pan": -0.0005341283167320766, "shoulder_lift": 0.04892484521156509, "elbow_flex": 0.03671790279086465, "wrist_flex": -0.0007448664945569829, "wrist_roll": -5.342639116905381e-07, "gripper": -6.847963944365278e-06}, "actuator_forces": {"shoulder_pan": -0.016230183271656706, "shoulder_lift": -0.5330621579404351, "elbow_flex": -0.8035298813528584, "wrist_flex": -0.04040802380131936, "wrist_roll": 4.13058051009791e-05, "gripper": -0.0001397129786937512}, "applied_targets": {"shoulder_pan": -0.0040852265700842055, "shoulder_lift": -0.8212068852185317, "elbow_flex": 0.3014179682102475, "wrist_flex": 1.6391840100134458, "wrist_roll": -4.398108620440225e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18271523654744046, 0.0005740068883633796, 0.13842854461515497], "quaternion_wxyz": [0.8469126643424454, 0.019538619257641394, 0.5312546424341993, -0.011210986843086577], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9697, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 65, "teleop_active": true, "observed_at": 1792583567.3165176, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456070701e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 6.109662168289301e-18, 4.240383898736991e-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": 0.06131250000000001}, {"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": 5.201999999999649, "positions": {"shoulder_pan": -0.0030420900251330865, "shoulder_lift": -0.8138202718035934, "elbow_flex": 0.3078816394135449, "wrist_flex": 1.6361656471765846, "wrist_roll": -4.485183649039389e-06, "gripper": 0.974169059184987}, "velocities": {"shoulder_pan": 0.0003875439671357557, "shoulder_lift": -0.036686884961906724, "elbow_flex": -0.010084935576723974, "wrist_flex": 0.004457520262029134, "wrist_roll": -2.9675498510004776e-07, "gripper": 0.2128668698902911}, "actuator_forces": {"shoulder_pan": -0.001267195594380155, "shoulder_lift": 0.12343741319239143, "elbow_flex": 0.07937258259329383, "wrist_flex": -0.013671770189603194, "wrist_roll": 2.1333551299650144e-07, "gripper": 3.35}, "applied_targets": {"shoulder_pan": -0.003042865113067358, "shoulder_lift": -0.8137468980336696, "elbow_flex": 0.30790180928469835, "wrist_flex": 1.6361567321360606, "wrist_roll": -4.484590139069189e-06, "gripper": 0.9777658970248702}, "tcp": {"position_m": [0.1828706481938347, 0.000427061583732778, 0.136779899561843], "quaternion_wxyz": [0.8442738293127074, 0.019740332975420615, 0.535419411082614, -0.011750516057745455], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9698, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 66, "teleop_active": true, "observed_at": 1792583567.388182, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456073062e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 4.19813210945667e-18, 4.763777839878762e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"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": 0.06131250000000001}], "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": -0.0008708350789108898, "shoulder_lift": -0.8074728064827735, "elbow_flex": 0.3156602321339858, "wrist_flex": 1.6366569218531064, "wrist_roll": -4.663568479005021e-06, "gripper": 0.9996504300574257}, "velocities": {"shoulder_pan": -0.031030837315180596, "shoulder_lift": 0.011251228258512005, "elbow_flex": -0.004967679448121251, "wrist_flex": 0.008308042659427094, "wrist_roll": 4.245304765708818e-05, "gripper": 0.02478956587862264}, "actuator_forces": {"shoulder_pan": -0.618600432176052, "shoulder_lift": -2.22571201676044, "elbow_flex": -2.797837163232259, "wrist_flex": -0.1769920990634546, "wrist_roll": 0.00011229189019379936, "gripper": 0.380195737359486}, "applied_targets": {"shoulder_pan": -0.0014324012698363156, "shoulder_lift": -0.809443191321515, "elbow_flex": 0.31316918758253676, "wrist_flex": 1.636493245089972, "wrist_roll": -4.5318511237232785e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1823077288969162, 0.00010481893827063936, 0.1346778998829301], "quaternion_wxyz": [0.8403555587431778, 0.02024098298494794, 0.5415051892768384, -0.012843966813232476], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9699, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 67, "teleop_active": true, "observed_at": 1792583567.525953, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456078055e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.4947937676868444e-17, 7.576558632548672e-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": 0.061312500000000006}, {"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": 5.401999999999627, "positions": {"shoulder_pan": -0.002516753059430015, "shoulder_lift": -0.8061552731517713, "elbow_flex": 0.3169758054494263, "wrist_flex": 1.6360727960947594, "wrist_roll": -4.7438843553648e-06, "gripper": 0.9999888421881482}, "velocities": {"shoulder_pan": -0.002544106696293824, "shoulder_lift": -0.02913210008527873, "elbow_flex": -0.01299061877657294, "wrist_flex": 0.0042262824101385234, "wrist_roll": 8.800832429962159e-06, "gripper": 0.00047345139228355205}, "actuator_forces": {"shoulder_pan": -0.21151739460746422, "shoulder_lift": 0.7318644629328901, "elbow_flex": 0.4909797585075353, "wrist_flex": -0.1202285200129154, "wrist_roll": 0.00019897609500662584, "gripper": 0.010639221337669369}, "applied_targets": {"shoulder_pan": -0.002706602830851038, "shoulder_lift": -0.8055438136768223, "elbow_flex": 0.3173557747887875, "wrist_flex": 1.635959673785005, "wrist_roll": -4.546071949625172e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18231100949660922, 0.00034914595293186637, 0.13432042846440606], "quaternion_wxyz": [0.8397825502552647, 0.019764572193873044, 0.5424269334162829, -0.012151208884876539], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9700, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 68, "teleop_active": true, "observed_at": 1792583567.6005652, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456079892e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.5294624205821694e-17, 9.114809853119141e-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": 0.0613125}], "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": -0.0027581649579451997, "shoulder_lift": -0.8052826357953536, "elbow_flex": 0.31800955241184425, "wrist_flex": 1.6360785726035536, "wrist_roll": -4.654453815643118e-06, "gripper": 0.9999965898415045}, "velocities": {"shoulder_pan": -0.00017299365049255254, "shoulder_lift": -0.0010752320239580781, "elbow_flex": -0.0006222990366880684, "wrist_flex": 0.00039303204862996277, "wrist_roll": -3.2591653837225297e-07, "gripper": -4.747910614578629e-06}, "actuator_forces": {"shoulder_pan": -0.005663078877246264, "shoulder_lift": -0.15283586728025966, "elbow_flex": -0.323415224136113, "wrist_flex": -0.04755261768514174, "wrist_roll": 4.17255679113597e-05, "gripper": 0.003388449792510073}, "applied_targets": {"shoulder_pan": -0.0027639851256034452, "shoulder_lift": -0.8054365776917045, "elbow_flex": 0.3176844627523929, "wrist_flex": 1.6360313348431805, "wrist_roll": -4.612977416549374e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18224197842442655, 0.0003842721021567524, 0.13405092259867704], "quaternion_wxyz": [0.8392849798569828, 0.019684550892019346, 0.543201271373269, -0.012067303804368025], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9701, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 70, "teleop_active": true, "observed_at": 1792583567.7720387, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456081663e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.1339071392067846e-17, 6.122208916682343e-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": 0.06131250000000001}, {"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": 5.601999999999605, "positions": {"shoulder_pan": -0.00091761261248755, "shoulder_lift": -0.7983686709933014, "elbow_flex": 0.325144316852316, "wrist_flex": 1.6347142472006218, "wrist_roll": -4.6908611763406555e-06, "gripper": 0.999996587539551}, "velocities": {"shoulder_pan": 0.03220917008965954, "shoulder_lift": 0.0952861758562436, "elbow_flex": 0.11111234078616603, "wrist_flex": -0.040096442185738976, "wrist_roll": -1.232438333908342e-05, "gripper": -2.4890259262626237e-05}, "actuator_forces": {"shoulder_pan": 0.7410566153292588, "shoulder_lift": 3.0108658199999354, "elbow_flex": 2.7689227595027432, "wrist_flex": -0.8176058356054909, "wrist_roll": 5.587204500003343e-07, "gripper": 0.0033347886972023844}, "applied_targets": {"shoulder_pan": -0.0002500827804919441, "shoulder_lift": -0.7956543503676311, "elbow_flex": 0.3276087950945929, "wrist_flex": 1.6339804336395858, "wrist_roll": -4.666212409662492e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18197842510311507, 0.00012935260121827027, 0.1321607823209071], "quaternion_wxyz": [0.8359041419583811, 0.02008226851878203, 0.548355288620932, -0.012940069142632701], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9702, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 71, "teleop_active": true, "observed_at": 1792583567.844511, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456085106e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6083647776518636e-17, -1.5557282582584372e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"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": 0.061312500000000034}], "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": -0.0031974828399473076, "shoulder_lift": -0.7883227948367626, "elbow_flex": 0.3354827709193705, "wrist_flex": 1.6328906503921963, "wrist_roll": -4.578472755871139e-06, "gripper": 0.9999962186144797}, "velocities": {"shoulder_pan": 0.04946973584364331, "shoulder_lift": 0.013289376704745642, "elbow_flex": -0.012743020363914837, "wrist_flex": 0.02162313800535793, "wrist_roll": -6.261844979959169e-05, "gripper": 5.93939243026108e-05}, "actuator_forces": {"shoulder_pan": 0.8216946062841401, "shoulder_lift": -2.2650675378791902, "elbow_flex": -2.44094978137025, "wrist_flex": 0.24406401958481183, "wrist_roll": -9.819126442409988e-05, "gripper": 0.003747982700247121}, "applied_targets": {"shoulder_pan": -0.002448862469600603, "shoulder_lift": -0.7903209127148029, "elbow_flex": 0.33329264510980505, "wrist_flex": 1.6331113079999884, "wrist_roll": -4.707412815841357e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18151583659891918, 0.00045911684613319484, 0.12928595890332767], "quaternion_wxyz": [0.8307139543354666, 0.019307944598621948, 0.5562313907162529, -0.012172482473650778], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9703, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 72, "teleop_active": true, "observed_at": 1792583568.1174417, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456085941e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, -2.3567638528449034e-17, 2.6768078292212343e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000011}, {"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": 0.061312499999999895}], "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": -0.002441956706230787, "shoulder_lift": -0.7900326535804651, "elbow_flex": 0.33398968029129816, "wrist_flex": 1.6331743145492355, "wrist_roll": -4.82047384420743e-06, "gripper": 0.9999965435288842}, "velocities": {"shoulder_pan": -0.000559484544800217, "shoulder_lift": -0.0007880102904534149, "elbow_flex": -0.005579057323401444, "wrist_flex": 0.0006805797084077183, "wrist_roll": -9.895746339802405e-07, "gripper": 7.05033169609372e-07}, "actuator_forces": {"shoulder_pan": -0.024835814811288603, "shoulder_lift": -0.1858300915939708, "elbow_flex": -0.3657611060637578, "wrist_flex": -0.037758308988031786, "wrist_roll": 1.7913982180621166e-05, "gripper": 0.0034288756176010793}, "applied_targets": {"shoulder_pan": -0.002467228022921326, "shoulder_lift": -0.7902173543721307, "elbow_flex": 0.3336165779874358, "wrist_flex": 1.6331371122152614, "wrist_roll": -4.803289777132848e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18157564033920767, 0.00033718945296804914, 0.12971740947589772], "quaternion_wxyz": [0.8315041377875414, 0.01956686642330899, 0.5550331577817937, -0.012498013575752505], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9704, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 2951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 73, "teleop_active": true, "observed_at": 1792583568.2554412, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.79991745608407e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, -9.799523572926237e-19, 1.8246053461487213e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"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": 5.901999999999572, "positions": {"shoulder_pan": -0.0024595070772704015, "shoulder_lift": -0.7899427094051809, "elbow_flex": 0.33426651293981846, "wrist_flex": 1.633232484944694, "wrist_roll": -4.884871722567199e-06, "gripper": 0.9999965387974887}, "velocities": {"shoulder_pan": 2.6712769116336107e-05, "shoulder_lift": -0.0002885112248728909, "elbow_flex": -0.00029933328014228544, "wrist_flex": 0.000270791244842706, "wrist_roll": -1.9358463514324777e-07, "gripper": -5.937925856671557e-07}, "actuator_forces": {"shoulder_pan": 0.0008807171326439267, "shoulder_lift": -0.1350927716868, "elbow_flex": -0.3209986259577704, "wrist_flex": -0.046494195809373196, "wrist_roll": 4.109007682399652e-05, "gripper": 0.00343555003757956}, "applied_targets": {"shoulder_pan": -0.0024586021842009087, "shoulder_lift": -0.790078213931053, "elbow_flex": 0.3339441788028694, "wrist_flex": 1.6331861907066065, "wrist_roll": -4.8439192776365095e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18154503563091995, 0.00033978720956249066, 0.12965829423828057], "quaternion_wxyz": [0.8313892968627267, 0.019558687230271862, 0.5552055297330935, -0.012494581614609847], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9705, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 75, "teleop_active": true, "observed_at": 1792583568.3629558, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456084977e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6438319782894575e-17, 1.2427678398372331e-17, -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": 0.06131249999999999}, {"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": 6.001999999999561, "positions": {"shoulder_pan": -0.0034791767624846822, "shoulder_lift": -0.7835995096914672, "elbow_flex": 0.33987321049712177, "wrist_flex": 1.6305816350803635, "wrist_roll": -4.940017631437247e-06, "gripper": 0.9999966190359793}, "velocities": {"shoulder_pan": -0.00022041187970170664, "shoulder_lift": -0.027360484916812, "elbow_flex": -0.006625855684790346, "wrist_flex": 0.0038871430412091897, "wrist_roll": -3.314560222657242e-07, "gripper": -2.7798197172932444e-06}, "actuator_forces": {"shoulder_pan": 0.0007353627534314455, "shoulder_lift": 0.0950069054999858, "elbow_flex": 0.06792938128927517, "wrist_flex": -0.011823360354583201, "wrist_roll": 1.7485544465730557e-07, "gripper": 0.0033465582338294553}, "applied_targets": {"shoulder_pan": -0.0034787359387252787, "shoulder_lift": -0.7835447887216336, "elbow_flex": 0.33988646220849134, "wrist_flex": 1.630573860794281, "wrist_roll": -4.939354719392716e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18153379338571207, 0.0004851960520824086, 0.12811285563462424], "quaternion_wxyz": [0.828788769600525, 0.019205554102756154, 0.5590994655773326, -0.012170031503414117], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9706, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 76, "teleop_active": true, "observed_at": 1792583568.503559, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456088232e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.34569526454677e-17, 6.7882876366691606e-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": 0.06131249999999999}, {"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": 6.10199999999955, "positions": {"shoulder_pan": -0.002659996442133358, "shoulder_lift": -0.7777322797269588, "elbow_flex": 0.34614417116885354, "wrist_flex": 1.6296448046354892, "wrist_roll": -5.052880551479303e-06, "gripper": 0.9999962741041611}, "velocities": {"shoulder_pan": -0.002132513678284558, "shoulder_lift": -0.007636589391194465, "elbow_flex": -0.028628882981939843, "wrist_flex": 0.017145622127520733, "wrist_roll": 1.2393399313865903e-05, "gripper": 5.8182629968061426e-05}, "actuator_forces": {"shoulder_pan": -0.25199159652347847, "shoulder_lift": -2.0494202170585822, "elbow_flex": -2.2612656484291165, "wrist_flex": 0.21052955324125833, "wrist_roll": 6.815908024440393e-05, "gripper": 0.0036869096569489557}, "applied_targets": {"shoulder_pan": -0.002885221709176921, "shoulder_lift": -0.7795589082372935, "elbow_flex": 0.3440980503473444, "wrist_flex": 1.6298340566852298, "wrist_roll": -4.981002817069637e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18117956645665156, 0.00036681382229199113, 0.12642629469457078], "quaternion_wxyz": [0.8256459041072455, 0.019353141054227054, 0.5637152065587976, -0.012627860334835391], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9707, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 77, "teleop_active": true, "observed_at": 1792583568.5764058, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456089955e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.8545672032225956e-17, 1.0090049215498717e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": 6.201999999999539, "positions": {"shoulder_pan": -0.002896072626042216, "shoulder_lift": -0.7792625848124702, "elbow_flex": 0.3447988550546228, "wrist_flex": 1.6299058753522795, "wrist_roll": -5.051487210355845e-06, "gripper": 0.9999965593618857}, "velocities": {"shoulder_pan": -0.00012141140788513781, "shoulder_lift": -0.00021058998328127244, "elbow_flex": -0.005495976282553571, "wrist_flex": 0.0007083149101518514, "wrist_roll": -5.618473067538478e-07, "gripper": 6.155912716447278e-07}, "actuator_forces": {"shoulder_pan": -0.005349827696052412, "shoulder_lift": -0.1875984145556231, "elbow_flex": -0.365337879866388, "wrist_flex": -0.03485225151280247, "wrist_roll": 3.056747518755121e-05, "gripper": 0.0034131443753722124}, "applied_targets": {"shoulder_pan": -0.002901517080179844, "shoulder_lift": -0.7794490449793283, "elbow_flex": 0.34442624816286627, "wrist_flex": 1.6298716015074755, "wrist_roll": -5.021361792908779e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18124451022897164, 0.0004011785582014771, 0.12682246583601198], "quaternion_wxyz": [0.8263915109795845, 0.01930515397353755, 0.5626260787951591, -0.012501082773916285], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9708, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 78, "teleop_active": true, "observed_at": 1792583568.648787, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456091782e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.933029158792907e-17, 1.2134547208043993e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": 0.06131249999999997}], "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": -0.0028998623671046444, "shoulder_lift": -0.7791580226529675, "elbow_flex": 0.34507835751966964, "wrist_flex": 1.6299630977218194, "wrist_roll": -5.1005841070562895e-06, "gripper": 0.9999965543021229}, "velocities": {"shoulder_pan": 5.73245396964517e-06, "shoulder_lift": -0.00034992293852269854, "elbow_flex": -0.00029350833810640604, "wrist_flex": 0.0002592698398955418, "wrist_roll": -2.1328893736462826e-07, "gripper": -6.025287387346876e-07}, "actuator_forces": {"shoulder_pan": 0.00019304839729139545, "shoulder_lift": -0.1423955104955894, "elbow_flex": -0.32206345960781846, "wrist_flex": -0.04470106159919851, "wrist_roll": 3.8793633912967765e-05, "gripper": 0.0034200796470713613}, "applied_targets": {"shoulder_pan": -0.0028996641778925793, "shoulder_lift": -0.7793008921625036, "elbow_flex": 0.34475495803467043, "wrist_flex": 1.6299185878945797, "wrist_roll": -5.061948166279743e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18121269404451487, 0.00040166260010940954, 0.12676169709769725], "quaternion_wxyz": [0.8262699853098839, 0.019300818528646017, 0.5628046206807468, -0.012503948197633088], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9709, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 80, "teleop_active": true, "observed_at": 1792583569.0183423, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174560937445e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.660452748278972e-17, -8.549397659178323e-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": 0.061312500000000006}], "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": -0.0028997750075630178, "shoulder_lift": -0.7790238582844413, "elbow_flex": 0.34544043816008674, "wrist_flex": 1.630013614914126, "wrist_roll": -5.14400751498694e-06, "gripper": 0.9999965416501413}, "velocities": {"shoulder_pan": 5.617831574031092e-07, "shoulder_lift": 0.0020176712034532195, "elbow_flex": 0.014950692515733483, "wrist_flex": 0.00036585359801188206, "wrist_roll": -3.173494651380026e-07, "gripper": -2.6028779264496774e-06}, "actuator_forces": {"shoulder_pan": 3.318519343764592e-07, "shoulder_lift": 0.0008682369282269065, "elbow_flex": -0.0012622686670624716, "wrist_flex": -0.00022214557020561188, "wrist_roll": 1.728561701205833e-07, "gripper": 0.0034278271225502976}, "applied_targets": {"shoulder_pan": -0.0028997761311293324, "shoulder_lift": -0.7790278936268482, "elbow_flex": 0.3454105367750553, "wrist_flex": 1.63001288320693, "wrist_roll": -5.143372816056664e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18117667838376733, 0.00040154459340876656, 0.12668789848549114], "quaternion_wxyz": [0.8261260840326814, 0.019297053884979026, 0.5630158373470071, -0.01250935204697405], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9710, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 81, "teleop_active": true, "observed_at": 1792583569.090481, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456095493e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.5847837952505978e-17, -1.5713591331919416e-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": 0.06131249999999998}, {"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": 6.501999999999506, "positions": {"shoulder_pan": -0.0028997673008979282, "shoulder_lift": -0.7787692047185127, "elbow_flex": 0.3462156956188566, "wrist_flex": 1.6300795280357707, "wrist_roll": -5.201063978820378e-06, "gripper": 0.999996523204549}, "velocities": {"shoulder_pan": -6.943715163628979e-07, "shoulder_lift": 0.003512057339058878, "elbow_flex": 0.00514843199855895, "wrist_flex": 0.0010252233397928681, "wrist_roll": -8.907732710715084e-07, "gripper": 2.724378142742628e-06}, "actuator_forces": {"shoulder_pan": -1.2901777454388252e-05, "shoulder_lift": -0.1265711888139549, "elbow_flex": -0.49397992318768047, "wrist_flex": -0.02036308433434897, "wrist_roll": 1.775331196026981e-05, "gripper": 0.0034502542107475165}, "applied_targets": {"shoulder_pan": -0.0028997802219497366, "shoulder_lift": -0.7788913767756875, "elbow_flex": 0.34573833547560645, "wrist_flex": 1.6300599458657226, "wrist_roll": -5.183992547994567e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18109807238840261, 0.00040131564094717816, 0.12652048899841695], "quaternion_wxyz": [0.8258131989533823, 0.019288796309962327, 0.563474690990488, -0.01252099774250369], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9711, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 82, "teleop_active": true, "observed_at": 1792583569.2234755, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456097234e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.522905312014216e-17, -2.061947758416085e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"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": 6.601999999999495, "positions": {"shoulder_pan": -0.0028997856386395265, "shoulder_lift": -0.7786079639453942, "elbow_flex": 0.3464242828496691, "wrist_flex": 1.630142931458516, "wrist_roll": -5.255807771091439e-06, "gripper": 0.9999965653305527}, "velocities": {"shoulder_pan": -4.4822519834193776e-07, "shoulder_lift": 0.0001931309124211111, "elbow_flex": -0.004620698986296417, "wrist_flex": 0.0006349800846979165, "wrist_roll": -5.478701588380336e-07, "gripper": 2.7333398279655573e-07}, "actuator_forces": {"shoulder_pan": 2.27368432836883e-06, "shoulder_lift": -0.14706556441240082, "elbow_flex": -0.35176539176944743, "wrist_flex": -0.03649856614674718, "wrist_roll": 3.170010030996949e-05, "gripper": 0.0034074941174822015}, "applied_targets": {"shoulder_pan": -0.00289978388782933, "shoulder_lift": -0.7787547807596997, "elbow_flex": 0.34606614819204407, "wrist_flex": 1.630106954852209, "wrist_roll": -5.2245592609143474e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1810695210741503, 0.00040123596484970903, 0.12645945391351865], "quaternion_wxyz": [0.8256835379388354, 0.019285381384308718, 0.5636646814277911, -0.012525819437315353], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9712, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 83, "teleop_active": true, "observed_at": 1792583569.2960207, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456098979e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.176938683043363e-17, 6.503467244025183e-19, -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": 0.0613125}], "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": -0.0028997925409954763, "shoulder_lift": -0.7784750934214697, "elbow_flex": 0.34671737268583463, "wrist_flex": 1.6301981367319558, "wrist_roll": -5.30335639092927e-06, "gripper": 0.9999965566126704}, "velocities": {"shoulder_pan": 1.929034497737664e-09, "shoulder_lift": -0.00034802122308165445, "elbow_flex": -0.00028970918748270056, "wrist_flex": 0.0002595114985126691, "wrist_roll": -2.1741152468970199e-07, "gripper": -6.098880932448443e-07}, "actuator_forces": {"shoulder_pan": 5.018776170651051e-06, "shoulder_lift": -0.14253796117270667, "elbow_flex": -0.32206526852451134, "wrist_flex": -0.044418377219244576, "wrist_roll": 3.8444870834071845e-05, "gripper": 0.003417781033704159}, "applied_targets": {"shoulder_pan": -0.0028997875793630823, "shoulder_lift": -0.7786181055917176, "elbow_flex": 0.34639397487068463, "wrist_flex": 1.6301539101663487, "wrist_roll": -5.265073137790302e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18103678542122242, 0.00040114252871367945, 0.12639302473109992], "quaternion_wxyz": [0.8255498446501116, 0.019281859972478662, 0.5638604819915624, -0.01253079097347032], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9713, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 85, "teleop_active": true, "observed_at": 1792583569.466862, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456101125e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6882643199126656e-17, 4.291984391667858e-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": 0.0613125}], "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": -0.0028997934809567977, "shoulder_lift": -0.7783404501217586, "elbow_flex": 0.3470795784399701, "wrist_flex": 1.6302483874867801, "wrist_roll": -5.346572877278803e-06, "gripper": 0.9999965438827656}, "velocities": {"shoulder_pan": 7.394442252244399e-07, "shoulder_lift": 0.0020339298436081003, "elbow_flex": 0.01495427676060605, "wrist_flex": 0.00036388842937335575, "wrist_roll": -3.1529610783726617e-07, "gripper": -2.605366918814897e-06}, "actuator_forces": {"shoulder_pan": -2.6766626870511345e-07, "shoulder_lift": 0.000874967638878843, "elbow_flex": -0.0012636064124649238, "wrist_flex": -0.00022083084900259564, "wrist_roll": 1.7114314024638255e-07, "gripper": 0.003425594248597008}, "applied_targets": {"shoulder_pan": -0.0028997949598452482, "shoulder_lift": -0.7783445179814458, "elbow_flex": 0.3470496698864489, "wrist_flex": 1.6302476597099214, "wrist_roll": -5.345942285063128e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1810006125540337, 0.00040103831785903536, 0.12631929075924148], "quaternion_wxyz": [0.8254055855912925, 0.019278058395286207, 0.5640716449318783, -0.012536152641378128], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9714, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 86, "teleop_active": true, "observed_at": 1792583569.5383918, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.79991745610324e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.119601108341441e-17, -1.2344718901460515e-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": 0.0613125}], "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": -0.0028997858668393197, "shoulder_lift": -0.7780849115763999, "elbow_flex": 0.3478550189802968, "wrist_flex": 1.6303139252258072, "wrist_roll": -5.403259234853495e-06, "gripper": 0.9999965254321078}, "velocities": {"shoulder_pan": -6.886595164895935e-07, "shoulder_lift": 0.003520254119785883, "elbow_flex": 0.0051469244138430586, "wrist_flex": 0.0010191844164078037, "wrist_roll": -8.846932594562012e-07, "gripper": 2.7275736238947612e-06}, "actuator_forces": {"shoulder_pan": -1.2762571976576709e-05, "shoulder_lift": -0.12710537869429572, "elbow_flex": -0.4941053160772526, "wrist_flex": -0.02024774417327535, "wrist_roll": 1.7639104976549004e-05, "gripper": 0.0034480294677905476}, "applied_targets": {"shoulder_pan": -0.0028997986503117258, "shoulder_lift": -0.7782076056308526, "elbow_flex": 0.34737753810932204, "wrist_flex": 1.6302944539065776, "wrist_roll": -5.386297526238023e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18092162718103771, 0.0004008082270256096, 0.12615202977549667], "quaternion_wxyz": [0.8250919088093503, 0.019269781561013735, 0.5645303980508928, -0.012547797114778974], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9715, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 87, "teleop_active": true, "observed_at": 1792583569.6099215, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456105538e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.6180597704810514e-17, 1.8087951507893764e-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": 0.06131250000000001}, {"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": 7.001999999999451, "positions": {"shoulder_pan": -0.004524165135032596, "shoulder_lift": -0.7737683063908659, "elbow_flex": 0.34984863738287664, "wrist_flex": 1.6258980261021945, "wrist_roll": -5.680247381299844e-06, "gripper": 0.9840782808993339}, "velocities": {"shoulder_pan": -0.009826879123457075, "shoulder_lift": -0.026584822616688868, "elbow_flex": -0.02250117167651782, "wrist_flex": -0.047199608505575176, "wrist_roll": 1.5137299685867428e-05, "gripper": 0.5546314718417164}, "actuator_forces": {"shoulder_pan": -0.2931349564324419, "shoulder_lift": 0.9328079692368192, "elbow_flex": 0.13397598943441835, "wrist_flex": -0.6876887691771572, "wrist_roll": 0.00025315345536428436, "gripper": -0.7248751406640395}, "applied_targets": {"shoulder_pan": -0.004789736560824258, "shoulder_lift": -0.77298713424508, "elbow_flex": 0.34991430262200884, "wrist_flex": 1.6252633044856535, "wrist_roll": -5.426599859133711e-06, "gripper": 0.9839419726562503}, "tcp": {"position_m": [0.18142900655689886, 0.000631109037440154, 0.1255288148987694], "quaternion_wxyz": [0.8245068036947144, 0.018800502487356614, 0.5654142402607317, -0.011908344877760225], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9716, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 88, "teleop_active": true, "observed_at": 1792583569.9460738, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456107852e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.8373070478966535e-17, 1.9656554931504674e-17, -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": 0.06131250000000001}, {"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": 7.10199999999944, "positions": {"shoulder_pan": -0.004809461508124791, "shoulder_lift": -0.772736508969424, "elbow_flex": 0.3506367684427526, "wrist_flex": 1.6254554187815236, "wrist_roll": -5.5437188348599226e-06, "gripper": 1.0003687089923115}, "velocities": {"shoulder_pan": -0.00038140952450984737, "shoulder_lift": -0.00112209892169907, "elbow_flex": -0.00032161270636969997, "wrist_flex": -0.0004173472255671944, "wrist_roll": -4.99830493470473e-07, "gripper": 0.15826613967428105}, "actuator_forces": {"shoulder_pan": -0.012529256264683042, "shoulder_lift": -0.16324601864357646, "elbow_flex": -0.318515087106789, "wrist_flex": -0.054868400832674524, "wrist_roll": 3.251763878898625e-05, "gripper": -0.5877935313756097}, "applied_targets": {"shoulder_pan": -0.0048223357767456145, "shoulder_lift": -0.7729010258176134, "elbow_flex": 0.35031678932769206, "wrist_flex": 1.6254000671054847, "wrist_roll": -5.511589245462384e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.1814507405938461, 0.0006745883461877122, 0.12531848637919019], "quaternion_wxyz": [0.8241725275062001, 0.018705076104282948, 0.5659069076811886, -0.01179562930448581], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9717, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 90, "teleop_active": true, "observed_at": 1792583570.0525103, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456109644e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.3213954650910035e-17, 8.151170814663091e-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": 0.061312500000000006}, {"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": 7.201999999999429, "positions": {"shoulder_pan": -0.004815354445840814, "shoulder_lift": -0.7726070436098256, "elbow_flex": 0.35100102339761197, "wrist_flex": 1.625497140179971, "wrist_roll": -5.590721420480334e-06, "gripper": 0.9999894180876384}, "velocities": {"shoulder_pan": 1.282992744747494e-05, "shoulder_lift": 0.0021458144969382386, "elbow_flex": 0.014990906769986089, "wrist_flex": 0.0003700529654131029, "wrist_roll": -2.988204197131078e-07, "gripper": -4.769577374823579e-05}, "actuator_forces": {"shoulder_pan": -4.0244199426275884e-05, "shoulder_lift": 0.0009663685165151037, "elbow_flex": -0.001290996726083904, "wrist_flex": -0.00025075372309402155, "wrist_roll": 1.2904148487518502e-07, "gripper": 0.010731138472579005}, "applied_targets": {"shoulder_pan": -0.0048153801056957084, "shoulder_lift": -0.7726113352388194, "elbow_flex": 0.350971041584072, "wrist_flex": 1.6254964000740402, "wrist_roll": -5.5901237796409075e-06, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.18141520686420978, 0.0006753705058902815, 0.1252457341305947], "quaternion_wxyz": [0.8240320203382222, 0.018699290130645165, 0.5661116217045778, -0.011798210751215928], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9718, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 91, "teleop_active": true, "observed_at": 1792583570.1890616, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456111716e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 3.1377172176244516e-17, -1.9347672908294812e-17, -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": 0.06131249999999998}], "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": -0.004815430472066344, "shoulder_lift": -0.7723491383587625, "elbow_flex": 0.35177054515692086, "wrist_flex": 1.6255632724640003, "wrist_roll": -5.6481661829583855e-06, "gripper": 0.9780617148251546}, "velocities": {"shoulder_pan": -4.428197836046342e-06, "shoulder_lift": 0.00358547715726455, "elbow_flex": 0.005544351341653191, "wrist_flex": 0.001068500694322129, "wrist_roll": -9.31402808874625e-07, "gripper": -1.6887356066672574}, "actuator_forces": {"shoulder_pan": 7.761144870865877e-05, "shoulder_lift": -0.1260361823144649, "elbow_flex": -0.4870741927549602, "wrist_flex": -0.0214273433755352, "wrist_roll": 1.895494389907073e-05, "gripper": -2.242061150526638}, "applied_targets": {"shoulder_pan": -0.004815357165346953, "shoulder_lift": -0.7724707664494008, "elbow_flex": 0.35129968596602523, "wrist_flex": 1.6255426846291823, "wrist_roll": -5.6299604052934865e-06, "gripper": 0.9747658970248702}, "tcp": {"position_m": [0.18133536634474087, 0.0006749923996730723, 0.12507937380407802], "quaternion_wxyz": [0.8237182714003396, 0.018690562839062785, 0.5665680843926665, -0.011810079153822348], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9719, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 92, "teleop_active": true, "observed_at": 1792583570.2615154, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456114343e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, -7.029518167734985e-19, -1.5981128235077022e-17, -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": 7.401999999999407, "positions": {"shoulder_pan": -0.004836819643220523, "shoulder_lift": -0.7678518409256277, "elbow_flex": 0.35556418014209246, "wrist_flex": 1.623388197730555, "wrist_roll": -5.699741201619822e-06, "gripper": 0.964551782806568}, "velocities": {"shoulder_pan": -0.0004349596013910412, "shoulder_lift": -0.045884693461153675, "elbow_flex": -0.023839081855383262, "wrist_flex": -0.028780998312945012, "wrist_roll": -3.0593897508432556e-07, "gripper": 0.08801764621074133}, "actuator_forces": {"shoulder_pan": -0.01414266793405794, "shoulder_lift": 1.0217823610016694, "elbow_flex": 0.5528040882416008, "wrist_flex": -0.33413371382175683, "wrist_roll": 3.154187889482709e-05, "gripper": -1.5756840818851288}, "applied_targets": {"shoulder_pan": -0.004851402229727343, "shoulder_lift": -0.7670053033958916, "elbow_flex": 0.3559912438129723, "wrist_flex": 1.6230684465914278, "wrist_roll": -5.66863765122345e-06, "gripper": 0.9632958774936201}, "tcp": {"position_m": [0.18133691781838124, 0.0006779256437902613, 0.12401164234779516], "quaternion_wxyz": [0.8219204590507775, 0.0186346905954649, 0.5691736326352331, -0.01186942344779584], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9720, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 93, "teleop_active": true, "observed_at": 1792583570.3331995, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456115373e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.429616944445804e-17, -3.119044069184795e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"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": 7.501999999999396, "positions": {"shoulder_pan": -0.0048760088471695865, "shoulder_lift": -0.7615858283557863, "elbow_flex": 0.36085941128702603, "wrist_flex": 1.6206693758934028, "wrist_roll": -5.7412020632645374e-06, "gripper": 0.9407491543588524}, "velocities": {"shoulder_pan": -0.0002658768920404728, "shoulder_lift": 0.031505401075574826, "elbow_flex": 0.023402138592772792, "wrist_flex": 0.0009943844034099565, "wrist_roll": -3.509726100842655e-07, "gripper": -0.10135276287265704}, "actuator_forces": {"shoulder_pan": -0.007550753543394961, "shoulder_lift": -0.5452664457210403, "elbow_flex": -0.6516124204378002, "wrist_flex": 0.09271052541066638, "wrist_roll": 3.365761271444719e-05, "gripper": -3.0952948268604814}, "applied_targets": {"shoulder_pan": -0.0048837940613903185, "shoulder_lift": -0.7620599081291661, "elbow_flex": 0.360258028017861, "wrist_flex": 1.620749783723908, "wrist_roll": -5.707665005626949e-06, "gripper": 0.9380618945312503}, "tcp": {"position_m": [0.18131175434255997, 0.0006834361304970488, 0.12257669414301507], "quaternion_wxyz": [0.8194850809211651, 0.018555616553388058, 0.5726754952951871, -0.01194438488857944], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9721, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 95, "teleop_active": true, "observed_at": 1792583570.512417, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456116173e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6984255814383678e-17, -2.7258658123357455e-17, -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": 0.06131250000000001}, {"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": 7.601999999999385, "positions": {"shoulder_pan": -0.006009028945667489, "shoulder_lift": -0.7552621389242313, "elbow_flex": 0.36738063089897544, "wrist_flex": 1.6187750965441121, "wrist_roll": -5.75510319568358e-06, "gripper": 0.906700942120512}, "velocities": {"shoulder_pan": -0.05110294418780794, "shoulder_lift": 0.09929971427960432, "elbow_flex": 0.11718889930714532, "wrist_flex": -0.16316537708750284, "wrist_roll": 1.702779286404789e-05, "gripper": -0.24913022937875767}, "actuator_forces": {"shoulder_pan": -1.0139978158677136, "shoulder_lift": 2.9900214768708793, "elbow_flex": 2.7554513552405524, "wrist_flex": -3.018274016134228, "wrist_roll": 3.6757898360263025e-07, "gripper": -1.4845781367805557}, "applied_targets": {"shoulder_pan": -0.006923346301821014, "shoulder_lift": -0.7525652227684875, "elbow_flex": 0.36982915113551557, "wrist_flex": 1.6160863377400283, "wrist_roll": -5.789158781411585e-06, "gripper": 0.9052398237478734}, "tcp": {"position_m": [0.18097453936384847, 0.0008283913603678605, 0.12088643481083348], "quaternion_wxyz": [0.8163423894485027, 0.018170417003818357, 0.5771650067509384, -0.011640194053588059], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9722, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 96, "teleop_active": true, "observed_at": 1792583570.7840974, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456118149e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.7465027184527916e-17, 8.4616095443314e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"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}], "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": -0.006220586379817807, "shoulder_lift": -0.7368682480733774, "elbow_flex": 0.38267513910591944, "wrist_flex": 1.61027260514978, "wrist_roll": -5.894218374454354e-06, "gripper": 0.8400448291442217}, "velocities": {"shoulder_pan": 0.0004990528245112404, "shoulder_lift": 0.21082519581733034, "elbow_flex": 0.07708237189054473, "wrist_flex": 0.09433670103474483, "wrist_roll": 9.44211027259947e-06, "gripper": -1.767464347717069}, "actuator_forces": {"shoulder_pan": -0.2318384611336981, "shoulder_lift": -3.35, "elbow_flex": -3.22714747862625, "wrist_flex": 0.939444842108287, "wrist_roll": 6.0604536549292536e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.006427128251047152, "shoulder_lift": -0.7398048640043912, "elbow_flex": 0.3798709965889517, "wrist_flex": 1.6111402596743476, "wrist_roll": -5.831206522199049e-06, "gripper": 0.82565564311862}, "tcp": {"position_m": [0.1808668373730119, 0.000872463828321136, 0.1166750261887966], "quaternion_wxyz": [0.809206107537449, 0.017874812350997676, 0.5871348033090846, -0.011776644288991339], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9723, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 97, "teleop_active": true, "observed_at": 1792583570.9227433, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174561203125e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 5.572176753016408e-17, 2.887657023851224e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_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": -6.825604725294032e-05}, "simulation_time": 7.801999999999363, "positions": {"shoulder_pan": -0.0069471449359741555, "shoulder_lift": -0.7317058560797394, "elbow_flex": 0.386892577496049, "wrist_flex": 1.6073094706003652, "wrist_roll": -5.953836588537711e-06, "gripper": 0.7715278298607403}, "velocities": {"shoulder_pan": 0.006533606764669943, "shoulder_lift": -0.2687281462738219, "elbow_flex": -0.11095867843925665, "wrist_flex": -0.05144088094146269, "wrist_roll": 1.098367831410587e-06, "gripper": -0.28301249200143896}, "actuator_forces": {"shoulder_pan": -0.07322904362541482, "shoulder_lift": 1.2937349186144047, "elbow_flex": 0.8362906075426508, "wrist_flex": -0.5495928484151591, "wrist_roll": 9.556873900043276e-05, "gripper": 3.35}, "applied_targets": {"shoulder_pan": -0.007011336526332148, "shoulder_lift": -0.7308062284235576, "elbow_flex": 0.38749410224782554, "wrist_flex": 1.6067899614892698, "wrist_roll": -5.860119947544471e-06, "gripper": 0.7820696089041235}, "tcp": {"position_m": [0.18080115053054283, 0.000976919896057314, 0.11533847606833443], "quaternion_wxyz": [0.8068430968165242, 0.017589038233549854, 0.5903906248457907, -0.011565160947233111], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9724, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 3951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 98, "teleop_active": true, "observed_at": 1792583570.9946444, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456121603e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 4.555411439062885e-17, 1.813770465317416e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000009}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999982}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312499999999846}], "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": -0.003728220776227041, "shoulder_lift": -0.7178257689600775, "elbow_flex": 0.39966953147601486, "wrist_flex": 1.599521638154212, "wrist_roll": -5.8532348115797656e-06, "gripper": 0.7006699660394556}, "velocities": {"shoulder_pan": 0.0005232543832147949, "shoulder_lift": 0.21608832146955526, "elbow_flex": 0.17268833705602238, "wrist_flex": 0.02398383374703898, "wrist_roll": 1.2245538853794326e-06, "gripper": -0.21383233369060684}, "actuator_forces": {"shoulder_pan": -0.19161644365693498, "shoulder_lift": 1.7882369530623237, "elbow_flex": 0.1681130129139774, "wrist_flex": 0.32683348911177745, "wrist_roll": -2.9311216307867198e-05, "gripper": 3.35}, "applied_targets": {"shoulder_pan": -0.00389870478477184, "shoulder_lift": -0.7161152341258703, "elbow_flex": 0.39993513642654926, "wrist_flex": 1.5998166084660819, "wrist_roll": -5.887886441991852e-06, "gripper": 0.7063674599957468}, "tcp": {"position_m": [0.18070321287961683, 0.00051785672130116, 0.1121939393849983], "quaternion_wxyz": [0.8017226541097436, 0.01840565413513395, 0.5972703009403425, -0.013046279075600794], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9725, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 100, "teleop_active": true, "observed_at": 1792583571.1671972, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.79991745612499e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 1.4543616944781474e-17, -4.6253344069131556e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312499999999465}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312499999999465}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000056}], "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": -0.0065995296569072185, "shoulder_lift": -0.7050921059516166, "elbow_flex": 0.4084350541739955, "wrist_flex": 1.5938673304226716, "wrist_roll": -5.891948403015426e-06, "gripper": 0.6668042694887646}, "velocities": {"shoulder_pan": -0.030283461443388466, "shoulder_lift": 0.0627458928818557, "elbow_flex": 0.10614928544497312, "wrist_flex": -0.16829808687437897, "wrist_roll": 1.2637433914745985e-05, "gripper": 0.27474245476443115}, "actuator_forces": {"shoulder_pan": -0.7416132138417879, "shoulder_lift": 2.9167673474569256, "elbow_flex": 2.6386950847987123, "wrist_flex": -3.1468744655005594, "wrist_roll": -5.198346133572854e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.00726513249672865, "shoulder_lift": -0.702495882934668, "elbow_flex": 0.41077300118102444, "wrist_flex": 1.591067891933924, "wrist_roll": -5.917223270844769e-06, "gripper": 0.6586344038259984}, "tcp": {"position_m": [0.18047102379560956, 0.0009149551470970486, 0.10947866673344595], "quaternion_wxyz": [0.7967352442890592, 0.017422938139790563, 0.6039561385578733, -0.012098530179020706], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9726, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 101, "teleop_active": true, "observed_at": 1792583571.239024, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.79991745612779e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, -1.2901208410179476e-18, -3.0543493774509784e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000056}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000111}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000056}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000111}], "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": -0.005725916685807727, "shoulder_lift": -0.6760335038272387, "elbow_flex": 0.43388434384042496, "wrist_flex": 1.57702475581835, "wrist_roll": -6.0067947901242205e-06, "gripper": 0.5926106088754066}, "velocities": {"shoulder_pan": -0.015302581514841433, "shoulder_lift": 1.023043351121577, "elbow_flex": 0.5893878981058295, "wrist_flex": 0.009359669025243544, "wrist_roll": 2.283560465336183e-05, "gripper": -0.5195055331221748}, "actuator_forces": {"shoulder_pan": -0.459148175964061, "shoulder_lift": -2.195695488256092, "elbow_flex": -3.35, "wrist_flex": 2.971392578640234, "wrist_roll": 6.49808348822745e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.00614021982872061, "shoulder_lift": -0.677152872706716, "elbow_flex": 0.43074231133217267, "wrist_flex": 1.5795328578433916, "wrist_roll": -5.931837119572562e-06, "gripper": 0.5644023244541885}, "tcp": {"position_m": [0.1800623264243731, 0.0007931329610677284, 0.10307859953681867], "quaternion_wxyz": [0.7862196343626018, 0.01738303683600621, 0.6175700547735516, -0.012796250235390882], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9727, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 102, "teleop_active": true, "observed_at": 1792583571.3108013, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.79991745612888e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 4.27318508057506e-17, -3.26163383796815e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": 8.201999999999408, "positions": {"shoulder_pan": -0.007069455408417947, "shoulder_lift": -0.6528695407252243, "elbow_flex": 0.4440878784829024, "wrist_flex": 1.569648592507519, "wrist_roll": -6.067953985003115e-06, "gripper": 0.4928626905977206}, "velocities": {"shoulder_pan": 0.0016665006335540855, "shoulder_lift": -0.3490779341152054, "elbow_flex": -0.4387518317675131, "wrist_flex": 0.12692296114360513, "wrist_roll": 5.581377194561679e-06, "gripper": -2.0116422222394768}, "actuator_forces": {"shoulder_pan": -0.21107538430356598, "shoulder_lift": -3.35, "elbow_flex": -0.33833513140433524, "wrist_flex": -1.7985470705611988, "wrist_roll": 0.00013720864632209891, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.007257050680724282, "shoulder_lift": -0.6594049354664003, "elbow_flex": 0.44333679945359017, "wrist_flex": 1.5682327410904038, "wrist_roll": -5.933224669005596e-06, "gripper": 0.4695966840994359}, "tcp": {"position_m": [0.17935464867889353, 0.0009826726590001513, 0.09849014636926073], "quaternion_wxyz": [0.7767032928036062, 0.016683542837727355, 0.629519991648434, -0.01257912800522926], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9728, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 103, "teleop_active": true, "observed_at": 1792583571.4473221, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456131639e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 2.6469839821285765e-17, -2.0940525980990917e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000009}], "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": -0.0060476515237322314, "shoulder_lift": -0.6451950779904785, "elbow_flex": 0.45428118956637376, "wrist_flex": 1.5583222506194443, "wrist_roll": -5.946382130926664e-06, "gripper": 0.3694937103810366}, "velocities": {"shoulder_pan": 0.005919275728272154, "shoulder_lift": 0.260705706766822, "elbow_flex": 0.0962507586193468, "wrist_flex": 0.004792329493201384, "wrist_roll": -1.2862640779852093e-06, "gripper": -1.2367001422736372}, "actuator_forces": {"shoulder_pan": -0.027030614538734454, "shoulder_lift": 1.102660591955555, "elbow_flex": -0.37261214328600545, "wrist_flex": 0.4668870949385564, "wrist_roll": -4.051578092683673e-06, "gripper": 3.35}, "applied_targets": {"shoulder_pan": -0.006066898991867955, "shoulder_lift": -0.6440511504873306, "elbow_flex": 0.4540107655638742, "wrist_flex": 1.5587203214212075, "wrist_roll": -5.953046057944978e-06, "gripper": 0.3817659472656252}, "tcp": {"position_m": [0.17983141430253755, 0.0008431664830317213, 0.09662958180842272], "quaternion_wxyz": [0.7752799374566848, 0.016962648157480695, 0.6312557194230335, -0.01301936405332607], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9729, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 105, "teleop_active": true, "observed_at": 1792583571.7591865, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174561333534e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, -2.3386579205625025e-18, 9.922745753086413e-18, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000111}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000111}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000056}], "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": -0.006436584708073414, "shoulder_lift": -0.6632510887143407, "elbow_flex": 0.43886836421595465, "wrist_flex": 1.5688859473933316, "wrist_roll": -5.955851682364952e-06, "gripper": 0.4839543431155954}, "velocities": {"shoulder_pan": 0.00038482058885237985, "shoulder_lift": 0.13649155448750794, "elbow_flex": 0.1779028870697791, "wrist_flex": -0.1708527151380157, "wrist_roll": 2.3047267794710846e-08, "gripper": -0.2811411443508386}, "actuator_forces": {"shoulder_pan": 0.08091192736135522, "shoulder_lift": 3.35, "elbow_flex": 3.1374871302615475, "wrist_flex": -2.7707244371122215, "wrist_roll": -2.5607903731197923e-07, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.0063582775166001635, "shoulder_lift": -0.6594242151788201, "elbow_flex": 0.44170015981924815, "wrist_flex": 1.5664040805322437, "wrist_roll": -5.955897776900543e-06, "gripper": 0.4742538498622181}, "tcp": {"position_m": [0.18036899222249653, 0.0008999066546281187, 0.1007656519467558], "quaternion_wxyz": [0.7823237365889727, 0.017043004376560984, 0.6225105686189495, -0.012637212073860992], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9730, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 106, "teleop_active": true, "observed_at": 1792583571.897048, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174561334195e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, -4.668792701198274e-19, -3.623273063475752e-17, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000001}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000011}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999989}], "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": -0.007080316631148988, "shoulder_lift": -0.6354862155678069, "elbow_flex": 0.46063060992574945, "wrist_flex": 1.550581912303313, "wrist_roll": -5.914348357276542e-06, "gripper": 0.41895553684873815}, "velocities": {"shoulder_pan": 0.0018612235232057638, "shoulder_lift": 0.7472164967880304, "elbow_flex": 0.19610101095161842, "wrist_flex": -0.09864116403700146, "wrist_roll": -9.929533050581334e-06, "gripper": -0.7869104318914312}, "actuator_forces": {"shoulder_pan": 0.22354059782989033, "shoulder_lift": -3.35, "elbow_flex": -3.35, "wrist_flex": 3.35, "wrist_roll": -3.975648227891142e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.006880984283028141, "shoulder_lift": -0.6379658014980677, "elbow_flex": 0.4576148406274305, "wrist_flex": 1.5534953483010474, "wrist_roll": -5.956526475292481e-06, "gripper": 0.38432297780931013}, "tcp": {"position_m": [0.18004986999163158, 0.0009891772724417687, 0.09488587617535715], "quaternion_wxyz": [0.772961208176706, 0.016572550513751942, 0.6341096424225926, -0.012699709058383656], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9731, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 107, "teleop_active": true, "observed_at": 1792583571.969453, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.7999174561340895e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, 4.4056155573768165e-17, -3.6339406318373993e-17, -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": 8.601999999999542, "positions": {"shoulder_pan": -0.006441405203104661, "shoulder_lift": -0.6169940835821339, "elbow_flex": 0.4697876586904231, "wrist_flex": 1.5452188473132544, "wrist_roll": -5.93017718359174e-06, "gripper": 0.3250014889967182}, "velocities": {"shoulder_pan": -0.005287132269807128, "shoulder_lift": -0.4600514764136375, "elbow_flex": -0.3778690793345382, "wrist_flex": 0.017314005449458478, "wrist_roll": -9.369869519562425e-08, "gripper": -2.0202966848275192}, "actuator_forces": {"shoulder_pan": 0.004963283916776362, "shoulder_lift": -3.35, "elbow_flex": 0.09106009335914678, "wrist_flex": -1.4782433226066587, "wrist_roll": -3.179849351777654e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.006443136464665034, "shoulder_lift": -0.6223012377067586, "elbow_flex": 0.4694586749525238, "wrist_flex": 1.5439838869518652, "wrist_roll": -5.960653633292197e-06, "gripper": 0.29926692406356337}, "tcp": {"position_m": [0.17908888016645655, 0.000890750832066358, 0.09111478805784204], "quaternion_wxyz": [0.7647735659981141, 0.01654873695143681, 0.6439509375708645, -0.013218247139640165], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9732, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 108, "teleop_active": true, "observed_at": 1792583572.0371168, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 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, 5.799917456134682e-06, 0.10005686699301392], "quaternion_wxyz": [0.9997186370071134, -9.293577032563719e-18, -3.660628402128148e-19, -0.023720177500168776], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"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": 0.06131250000000004}], "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": -0.006470263114739098, "shoulder_lift": -0.6208114982292335, "elbow_flex": 0.4705142382750157, "wrist_flex": 1.5442290740769231, "wrist_roll": -5.959798445433735e-06, "gripper": 0.17910977938534736}, "velocities": {"shoulder_pan": -4.275035427761479e-05, "shoulder_lift": -0.001194055894569913, "elbow_flex": -0.0006269950222538103, "wrist_flex": -0.0009150856619636158, "wrist_roll": 2.83523088541754e-07, "gripper": -0.09685881236869329}, "actuator_forces": {"shoulder_pan": -0.0017178210290786922, "shoulder_lift": -0.20558979321845072, "elbow_flex": -0.3256026688014231, "wrist_flex": -0.03652780886477558, "wrist_roll": -1.351343258547584e-06, "gripper": 3.35}, "applied_targets": {"shoulder_pan": -0.006472021786171663, "shoulder_lift": -0.6210187545139761, "elbow_flex": 0.47018690695212545, "wrist_flex": 1.5441916675768033, "wrist_roll": -5.960946426263996e-06, "gripper": 0.19480461890518672}, "tcp": {"position_m": [0.1793627496666803, 0.0008980418200004695, 0.09165874015737058], "quaternion_wxyz": [0.766610880158494, 0.01658789136335529, 0.6417630683433005, -0.013143986964689068], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9733, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 110, "teleop_active": true, "observed_at": 1792583572.2134588, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18430809080011967, 2.008229965764907e-05, 0.09994812358178752], "quaternion_wxyz": [0.9996924927183065, -0.00018165935281779877, -0.007235096732099321, -0.023717933675070836], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.29807192455150927}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.17308113371048767}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.29666481624303054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.17173717044457407}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.4035044907372449}], "left_finger_force_n": 0, "right_finger_force_n": 0.4035044907372449, "bilateral_contact": false, "supported": true, "lift_m": -0.00017699945847933496}, "simulation_time": 8.801999999999609, "positions": {"shoulder_pan": -0.006470383227456128, "shoulder_lift": -0.6206560675628187, "elbow_flex": 0.47089250950930367, "wrist_flex": 1.5441946404168208, "wrist_roll": -5.813968998884398e-06, "gripper": 0.15440323017104401}, "velocities": {"shoulder_pan": 6.346757950920352e-06, "shoulder_lift": 0.011609723539011676, "elbow_flex": 0.020050885173964784, "wrist_flex": 0.004105970476206712, "wrist_roll": -9.491769326980245e-07, "gripper": 1.0006533591482711}, "actuator_forces": {"shoulder_pan": -2.9601475153739898e-05, "shoulder_lift": -0.03127616285689783, "elbow_flex": -0.039529390009988674, "wrist_flex": -0.013847477087438165, "wrist_roll": 6.202102365488772e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.00647039592097203, "shoulder_lift": -0.6206792870098967, "elbow_flex": 0.47085240773895576, "wrist_flex": 1.5441864284758684, "wrist_roll": -5.812070645019002e-06, "gripper": 0.15051255359321838}, "tcp": {"position_m": [0.17932178923375813, 0.0008978062937301265, 0.09159385991598794], "quaternion_wxyz": [0.7664753948959482, 0.01658394181544284, 0.6419248911120998, -0.01314823424192521], "frame": "world"}, "contact_count": 5, "warning_count": 0}
{"cursor": 9734, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 111, "teleop_active": true, "observed_at": 1792583572.2860577, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18209759771129508, 0.00012145616052469653, 0.10052695973316458], "quaternion_wxyz": [0.9978380074101477, -0.0014173038515616994, -0.06128867681207711, -0.023685445154398924], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.11483293222801669}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.11486034949387253}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 0.00040183669289772794}, "simulation_time": 8.901999999999642, "positions": {"shoulder_pan": -0.006470360450673128, "shoulder_lift": -0.6201784845937293, "elbow_flex": 0.47181512598361125, "wrist_flex": 1.5442779785813954, "wrist_roll": -5.562059486660576e-06, "gripper": 0.09835708658090722}, "velocities": {"shoulder_pan": -6.417112706138006e-06, "shoulder_lift": 0.00392243809950526, "elbow_flex": -0.0006535721861329552, "wrist_flex": 0.0003062414956055967, "wrist_roll": 2.8005751316086544e-07, "gripper": -0.6982085024944746}, "actuator_forces": {"shoulder_pan": 3.019604553955446e-06, "shoulder_lift": -0.26072159380032645, "elbow_flex": -0.5088864064350673, "wrist_flex": -0.058022517962399434, "wrist_roll": 6.135186977816731e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.006470361335017478, "shoulder_lift": -0.6204335846109087, "elbow_flex": 0.47131967392433743, "wrist_flex": 1.5442208358319802, "wrist_roll": -5.50133259959088e-06, "gripper": 0.07004446265518668}, "tcp": {"position_m": [0.17916684009293277, 0.000896794947503771, 0.09139061988416483], "quaternion_wxyz": [0.765978436212571, 0.01656984248180611, 0.6425178432799261, -0.01316421833548918], "frame": "world"}, "contact_count": 2, "warning_count": 0}
{"cursor": 9735, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 112, "teleop_active": true, "observed_at": 1792583572.627562, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1810449486726903, 0.0001394367884912823, 0.10071966700810248], "quaternion_wxyz": [0.9962712199884161, -0.0013755493070603175, -0.08268819893532629, -0.024585073596158573], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 1.4203327249546285}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 1.5147716672762208}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.0}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.984037057194237}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.428748911688409}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 6.130018012879563}], "left_finger_force_n": 10.412785968882645, "right_finger_force_n": 6.130018012879563, "bilateral_contact": true, "supported": true, "lift_m": 0.0005945439678356201}, "simulation_time": 9.001999999999676, "positions": {"shoulder_pan": -0.007453381458770481, "shoulder_lift": -0.6231856091547906, "elbow_flex": 0.4679264903957174, "wrist_flex": 1.543814610710389, "wrist_roll": -5.300418669753585e-06, "gripper": 0.01138057620903941}, "velocities": {"shoulder_pan": 0.002373703490624211, "shoulder_lift": 0.05227599500053243, "elbow_flex": 0.1119666586152412, "wrist_flex": 0.09725446262274393, "wrist_roll": -2.4572446399742137e-05, "gripper": -2.6545884626110743}, "actuator_forces": {"shoulder_pan": -0.18027244314790458, "shoulder_lift": -0.4764765621597462, "elbow_flex": -0.7874210271798461, "wrist_flex": -0.20352335364736973, "wrist_roll": -0.00016577880490879597, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.007609331960034118, "shoulder_lift": -0.6235746741730337, "elbow_flex": 0.46726079405223087, "wrist_flex": 1.5436142333654597, "wrist_roll": -5.454453194344818e-06, "gripper": 0.005634404061436673}, "tcp": {"position_m": [0.17989170504565083, 0.0010408222452964778, 0.0923763276471869], "quaternion_wxyz": [0.7685082919575746, 0.01632509796911148, 0.6395053823228122, -0.012702848062664454], "frame": "world"}, "contact_count": 6, "warning_count": 0}
{"cursor": 9736, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 113, "teleop_active": true, "observed_at": 1792583572.7062, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17958650696739653, 0.00019855484322225505, 0.10178632571096127], "quaternion_wxyz": [0.9895537296657662, -0.0029167746078615, -0.14176152703806694, -0.02604952940637981], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.247935940622851}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.532941676434888}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.534515280708007}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 19.84884643460558}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 19.281490920929546}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.016675778519168}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.685610586922236}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 18.898386584320217}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 12.836215208539851}], "left_finger_force_n": 49.44573025330087, "right_finger_force_n": 49.43688815830147, "bilateral_contact": true, "supported": false, "lift_m": 0.0016612026706944172}, "simulation_time": 9.101999999999709, "positions": {"shoulder_pan": -0.00766673464090141, "shoulder_lift": -0.6233325986952084, "elbow_flex": 0.46804668703405533, "wrist_flex": 1.5441790543056912, "wrist_roll": -8.194834233613812e-06, "gripper": -0.11765264228393454}, "velocities": {"shoulder_pan": 0.00028197833910654444, "shoulder_lift": 2.0575877953237317e-05, "elbow_flex": 0.007692222306687381, "wrist_flex": 0.009426058013408185, "wrist_roll": 6.157057856241317e-05, "gripper": -0.49952815601480144}, "actuator_forces": {"shoulder_pan": 0.009914886164308356, "shoulder_lift": -0.24838567735980632, "elbow_flex": -0.40028288622016817, "wrist_flex": -0.15717354593425625, "wrist_roll": 0.0013399292912538233, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.007656573759575152, "shoulder_lift": -0.6235809420249734, "elbow_flex": 0.46765556180845685, "wrist_flex": 1.5440409354988542, "wrist_roll": -6.800296143028366e-06, "gripper": -0.1443655959385634}, "tcp": {"position_m": [0.1797637780248038, 0.0010693720032840179, 0.09231914096144665], "quaternion_wxyz": [0.7682453511968039, 0.016251742035243606, 0.6398244984709813, -0.012632197024901638], "frame": "world"}, "contact_count": 9, "warning_count": 0}
{"cursor": 9737, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 115, "teleop_active": true, "observed_at": 1792583572.8852444, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17794681443603363, 0.0002659075594790904, 0.1016845628509128], "quaternion_wxyz": [0.9882058412601166, -0.003299647722660673, -0.15093370696972264, -0.0256387153474777], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.615107762522964}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.3151807465361}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.14753756236103}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.6058873809215912}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 27.223926770807175}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.34290760296159}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.04586065439526}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 18.030501274721214}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 11.250631640353165}], "left_finger_force_n": 49.90764022314886, "right_finger_force_n": 49.66990117243123, "bilateral_contact": true, "supported": false, "lift_m": 0.001559439810645949}, "simulation_time": 9.201999999999742, "positions": {"shoulder_pan": -0.007524927259940145, "shoulder_lift": -0.6233808095462844, "elbow_flex": 0.468196828248895, "wrist_flex": 1.5443517919266883, "wrist_roll": -7.400413750616991e-06, "gripper": -0.152248320963956}, "velocities": {"shoulder_pan": 0.06863611558551412, "shoulder_lift": -0.1312161102686556, "elbow_flex": -0.13285053705217928, "wrist_flex": 0.11296502484199199, "wrist_roll": -1.844488927732854e-05, "gripper": -0.20316389894592293}, "actuator_forces": {"shoulder_pan": 1.404308706052352, "shoulder_lift": -3.2150107843295928, "elbow_flex": -3.35, "wrist_flex": 1.9792057064942128, "wrist_roll": 3.4692703820464812e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.006255417318382358, "shoulder_lift": -0.6263401545536176, "elbow_flex": 0.46509779662727174, "wrist_flex": 1.5461090467780843, "wrist_roll": -7.3635239720623315e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.17970704586366976, 0.0010682111089605742, 0.09223000377304923], "quaternion_wxyz": [0.7680498206509051, 0.01624734671691872, 0.6400591528757417, -0.012640314187559535], "frame": "world"}, "contact_count": 9, "warning_count": 0}
{"cursor": 9738, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 116, "teleop_active": true, "observed_at": 1792583572.9603548, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1780577061310543, 7.271854187111595e-05, 0.10280746226617782], "quaternion_wxyz": [0.9894390278269242, -0.0031213571607083576, -0.14265631986082766, -0.02549199376572889], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.812988786997275}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.575816941396625}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.917557819517164}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.4845916800060612}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 23.998577874269326}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.831743752973747}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.596849364451556}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 23.2840157857858}], "left_finger_force_n": 44.789533102186454, "right_finger_force_n": 44.712608903211105, "bilateral_contact": true, "supported": false, "lift_m": 0.0026823392259109624}, "simulation_time": 9.301999999999776, "positions": {"shoulder_pan": -0.006220147664498011, "shoulder_lift": -0.6277211889055132, "elbow_flex": 0.46459338046132065, "wrist_flex": 1.54611493245644, "wrist_roll": -7.377125119152915e-06, "gripper": -0.1637614097285571}, "velocities": {"shoulder_pan": -1.5968129049016977e-05, "shoulder_lift": 0.0004894459726110609, "elbow_flex": -0.003858968459002545, "wrist_flex": 0.0007579308211850525, "wrist_roll": -5.938276414583032e-07, "gripper": -0.059708107236620615}, "actuator_forces": {"shoulder_pan": 0.021152369182814823, "shoulder_lift": -0.3347841323046623, "elbow_flex": -0.5749378818931632, "wrist_flex": 0.01149103468355861, "wrist_roll": 1.1994026001188596e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.0061992494110108395, "shoulder_lift": -0.6280481585740992, "elbow_flex": 0.4640318912884953, "wrist_flex": 1.546126672732357, "wrist_roll": -7.365653616108786e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18001196475684939, 0.0008669492937741408, 0.0932906867085237], "quaternion_wxyz": [0.7701091044147306, 0.01676697441736839, 0.637556677412005, -0.013127031415876502], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9739, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 117, "teleop_active": true, "observed_at": 1792583573.033378, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17799712470244652, 7.25198734805444e-05, 0.10276992419733325], "quaternion_wxyz": [0.9920119379777307, -0.0028021576278680848, -0.12365948886750487, -0.024754668960082396], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.890282935976808}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.689050153009329}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.337137868057496}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.13469563013483}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 22.390384793237594}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.096771705666045}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.897471272741322}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 26.388374924735896}], "left_finger_force_n": 46.44155138041606, "right_finger_force_n": 46.38261790314326, "bilateral_contact": true, "supported": false, "lift_m": 0.00264480115706639}, "simulation_time": 9.40199999999981, "positions": {"shoulder_pan": -0.006203676889220996, "shoulder_lift": -0.6275824994712257, "elbow_flex": 0.46478024770430937, "wrist_flex": 1.546175502110322, "wrist_roll": -7.393363889121721e-06, "gripper": -0.17173263913893722}, "velocities": {"shoulder_pan": -2.147483270701376e-05, "shoulder_lift": -0.002872125205760437, "elbow_flex": -0.0054494466290593915, "wrist_flex": 0.00036758006786320025, "wrist_roll": -2.8031139308036476e-07, "gripper": 0.01580575211775375}, "actuator_forces": {"shoulder_pan": -0.0009281833564918074, "shoulder_lift": -0.2618467625197809, "elbow_flex": -0.38620685470323224, "wrist_flex": -0.02281147459325439, "wrist_roll": 1.4276131076480097e-05, "gripper": -2.7845312172116508}, "applied_targets": {"shoulder_pan": -0.006204622063925615, "shoulder_lift": -0.6278472859192944, "elbow_flex": 0.46438642719094164, "wrist_flex": 1.5461530014361873, "wrist_roll": -7.37940099346693e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.17997402366703355, 0.0008643871187862857, 0.09324392882435434], "quaternion_wxyz": [0.7699825092239191, 0.01676868106058318, 0.6377093013610408, -0.01313749528403846], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9740, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 118, "teleop_active": true, "observed_at": 1792583573.1715138, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17826493421567782, 0.00043216634822435093, 0.10461724237259029], "quaternion_wxyz": [0.9928066962200459, -0.0022869232893630866, -0.11747163242037041, -0.023022803890904612], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.999250159071121}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.822022105170386}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.858335465744365}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.681107411843629}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.652185730375134}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.84098475143451}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.665458540705066}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 27.48211889678537}], "left_finger_force_n": 47.01290087220463, "right_finger_force_n": 46.988562188924945, "bilateral_contact": true, "supported": false, "lift_m": 0.004492119332323435}, "simulation_time": 9.501999999999843, "positions": {"shoulder_pan": -0.008722828667803799, "shoulder_lift": -0.6361852586299334, "elbow_flex": 0.45767577864804376, "wrist_flex": 1.5505062011731345, "wrist_roll": -7.427282199838854e-06, "gripper": -0.1716153792804361}, "velocities": {"shoulder_pan": -0.006815353589834938, "shoulder_lift": -0.07888700839007862, "elbow_flex": -0.06568849853117173, "wrist_flex": -0.021333144227724712, "wrist_roll": -1.0541362324669412e-06, "gripper": -0.0009376650798529935}, "actuator_forces": {"shoulder_pan": 0.16273645802900027, "shoulder_lift": 0.2906247715180825, "elbow_flex": -0.0345374270798402, "wrist_flex": -0.23802101480214333, "wrist_roll": 2.965605110810069e-05, "gripper": -2.908729895488932}, "applied_targets": {"shoulder_pan": -0.008581115046461951, "shoulder_lift": -0.6360160243317518, "elbow_flex": 0.45755112451870916, "wrist_flex": 1.550275940424521, "wrist_roll": -7.3949473954722744e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18037682740500385, 0.0012215473067899985, 0.09516326620909543], "quaternion_wxyz": [0.7735125108257549, 0.016073928475190583, 0.6334624958953402, -0.012053659753652414], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9741, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 120, "teleop_active": true, "observed_at": 1792583573.4781172, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1782015709652078, 0.0004145099979818946, 0.10445326564455691], "quaternion_wxyz": [0.9934413078223964, -0.0022408853980819153, -0.11202899041368426, -0.02277831538216738], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.954336068826756}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.793395509343557}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.057118180545477}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.896177621062279}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.314348630569118}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.617490228744852}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.458095110776759}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 27.923538805627718}], "left_finger_force_n": 47.01537601034719, "right_finger_force_n": 46.99912414514933, "bilateral_contact": true, "supported": false, "lift_m": 0.004328142604290056}, "simulation_time": 9.601999999999876, "positions": {"shoulder_pan": -0.008585715436342152, "shoulder_lift": -0.635625100396807, "elbow_flex": 0.458297661418371, "wrist_flex": 1.550227994596703, "wrist_roll": -7.46158748853258e-06, "gripper": -0.17168454851178563}, "velocities": {"shoulder_pan": -0.00031503309081679754, "shoulder_lift": 0.006992850726543954, "elbow_flex": 0.016773893869193493, "wrist_flex": 0.00031776711021201524, "wrist_roll": -1.120619186623875e-07, "gripper": -0.0004565666161350125}, "actuator_forces": {"shoulder_pan": 0.0010424269532780528, "shoulder_lift": -0.00249383985192253, "elbow_flex": -0.002919504854958177, "wrist_flex": -0.00048712243210502493, "wrist_roll": 5.103874509207462e-07, "gripper": -2.8400261268025986}, "applied_targets": {"shoulder_pan": -0.00858508537016052, "shoulder_lift": -0.63563908609826, "elbow_flex": 0.45826411363063263, "wrist_flex": 1.5502273590624827, "wrist_roll": -7.461363364695255e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18036051722930949, 0.0012038391778019073, 0.09505665068425398], "quaternion_wxyz": [0.7733458580537668, 0.016108343293039264, 0.6336640418923282, -0.012107316800761419], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9742, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 121, "teleop_active": true, "observed_at": 1792583573.61957, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17806359510478562, 0.00041505761656416716, 0.1042448811414592], "quaternion_wxyz": [0.9937800019769356, -0.002240654398739611, -0.10902703877004037, -0.022569713237515745], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.942421279513266}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.792782748271794}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.152773701274752}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.003135170033279}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.16300490299299}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.507183187842857}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.358981569702612}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.122291247124622}], "left_finger_force_n": 47.05411780208608, "right_finger_force_n": 46.98845600467009, "bilateral_contact": true, "supported": false, "lift_m": 0.004119758101192347}, "simulation_time": 9.70199999999991, "positions": {"shoulder_pan": -0.008585613145001909, "shoulder_lift": -0.6351605675603139, "elbow_flex": 0.4591696857605082, "wrist_flex": 1.550269457309561, "wrist_roll": -7.482785166687692e-06, "gripper": -0.1717153525009158}, "velocities": {"shoulder_pan": 1.0528279860444201e-07, "shoulder_lift": 0.0061111845123189325, "elbow_flex": 0.005449778347517003, "wrist_flex": 0.0006670991440844565, "wrist_roll": -5.45811802810412e-07, "gripper": -0.00019751209676933064}, "actuator_forces": {"shoulder_pan": -0.0001723657241505805, "shoulder_lift": -0.2676768006460861, "elbow_flex": -0.5609633663177647, "wrist_flex": -0.012713898012634672, "wrist_roll": 5.6021078776316915e-06, "gripper": -2.8094859703938084}, "applied_targets": {"shoulder_pan": -0.008585783678706879, "shoulder_lift": -0.6354200437316528, "elbow_flex": 0.4586280579067987, "wrist_flex": 1.5502572454165315, "wrist_roll": -7.477499329828354e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18022871817930933, 0.0012027824636598647, 0.09486492612424896], "quaternion_wxyz": [0.7729016706437025, 0.01609504130673188, 0.6342058096426465, -0.012122218321030146], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9743, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 122, "teleop_active": true, "observed_at": 1792583573.6960204, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17784405199345685, 0.0004890305352890064, 0.10524407874035613], "quaternion_wxyz": [0.9936764983196278, -0.002141528056021935, -0.1100487115701458, -0.02217457162110225], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9374696645559855}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.795102229903574}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.199408657959461}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.057041223307048}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.07650999109271}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.45152736222259}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.310527019523992}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.23159386175603}], "left_finger_force_n": 47.06553176681878, "right_finger_force_n": 46.99364824350261, "bilateral_contact": true, "supported": false, "lift_m": 0.005118955700089273}, "simulation_time": 9.801999999999943, "positions": {"shoulder_pan": -0.009121623787967716, "shoulder_lift": -0.6406061998760404, "elbow_flex": 0.455759955873661, "wrist_flex": 1.5550869189014973, "wrist_roll": -7.556956329164071e-06, "gripper": -0.17172886356712316}, "velocities": {"shoulder_pan": 0.007682861508022748, "shoulder_lift": 0.06871201219872261, "elbow_flex": 0.031534781624486745, "wrist_flex": 0.04918046390321734, "wrist_roll": 1.255429114282792e-06, "gripper": -0.00012907379719033114}, "actuator_forces": {"shoulder_pan": -0.065963937307572, "shoulder_lift": -1.4863801668913084, "elbow_flex": -1.0630785998621377, "wrist_flex": 0.6677033699952517, "wrist_roll": 6.407307875258735e-05, "gripper": -2.796048814666648}, "applied_targets": {"shoulder_pan": -0.009177054058054608, "shoulder_lift": -0.6418784357379397, "elbow_flex": 0.45479382327623924, "wrist_flex": 1.5556935438332231, "wrist_roll": -7.493345496962993e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18004623923615362, 0.0012790827522575002, 0.0959091621123141], "quaternion_wxyz": [0.7742702662737931, 0.015961094167176462, 0.6325425548516267, -0.01186231592365225], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9744, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 4951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 123, "teleop_active": true, "observed_at": 1792583573.7679908, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17809443120963722, 0.00020004659588755978, 0.10646092872995916], "quaternion_wxyz": [0.9932785057634661, -0.0021359360610616438, -0.113392299845693, -0.023139449024188036], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.932238480186867}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.795365521091151}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.204441933631388}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.067568974535671}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.045815259060202}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.441013926346724}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.305455298168965}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.268260552753677}], "left_finger_force_n": 47.04543016850528, "right_finger_force_n": 47.014729777269366, "bilateral_contact": true, "supported": false, "lift_m": 0.006335805689692303}, "simulation_time": 9.901999999999976, "positions": {"shoulder_pan": -0.007021408182647078, "shoulder_lift": -0.6458652861204464, "elbow_flex": 0.45125208045488824, "wrist_flex": 1.557118458232327, "wrist_roll": -7.5112433794165734e-06, "gripper": -0.17173483026230266}, "velocities": {"shoulder_pan": 0.007139921436175801, "shoulder_lift": -0.02586995907024081, "elbow_flex": -0.025550220307510786, "wrist_flex": 0.001910083814599191, "wrist_roll": -3.3289130233878525e-07, "gripper": -4.0036916286052066e-05}, "actuator_forces": {"shoulder_pan": -0.13276053475331473, "shoulder_lift": 0.11078438978108807, "elbow_flex": -0.11296766585121532, "wrist_flex": -0.12158440542975768, "wrist_roll": 6.155277430482109e-06, "gripper": -2.7901676759592533}, "applied_targets": {"shoulder_pan": -0.007136890983924581, "shoulder_lift": -0.6458089378995069, "elbow_flex": 0.4510901763356274, "wrist_flex": 1.5570052550605418, "wrist_roll": -7.509066149532449e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1803734114977204, 0.0009846382069293113, 0.0971053733422096], "quaternion_wxyz": [0.7765722664514924, 0.016692024234907534, 0.6296810083269883, -0.012598375198430501], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9745, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 125, "teleop_active": true, "observed_at": 1792583573.9397378, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17839563711354797, 0.00013325964803205046, 0.1071636469573959], "quaternion_wxyz": [0.9930083867861471, -0.002086672364530835, -0.11569580608683286, -0.023333881475943195], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.919235876383339}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.786760749048789}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.208092918277002}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.07561779094245}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.043884088673742}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.432025989250619}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.300822962386942}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.276521799589588}], "left_finger_force_n": 47.03359142332532, "right_finger_force_n": 47.00937075122715, "bilateral_contact": true, "supported": false, "lift_m": 0.007038523917129044}, "simulation_time": 10.00200000000001, "positions": {"shoulder_pan": -0.006513034729671093, "shoulder_lift": -0.6484499908339316, "elbow_flex": 0.44848792221089345, "wrist_flex": 1.5574565247595469, "wrist_roll": -7.506357590345133e-06, "gripper": -0.17173753104073528}, "velocities": {"shoulder_pan": 0.0008364925265076518, "shoulder_lift": 0.01797920522609658, "elbow_flex": 0.027752710763283055, "wrist_flex": 0.000979356231089146, "wrist_roll": 5.343630127241732e-09, "gripper": -2.1173536264229158e-05}, "actuator_forces": {"shoulder_pan": -0.002765712058178771, "shoulder_lift": -0.038518902131272625, "elbow_flex": -0.03789309863680046, "wrist_flex": -0.0026186939853687363, "wrist_roll": 2.1429188965926133e-07, "gripper": -2.787477418141634}, "applied_targets": {"shoulder_pan": -0.006514707714724108, "shoulder_lift": -0.6484859492443839, "elbow_flex": 0.4484324167893669, "wrist_flex": 1.5574545660470847, "wrist_roll": -7.506368277605388e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18073270605601077, 0.0009132369893705102, 0.09784446210412563], "quaternion_wxyz": [0.778204187090599, 0.016902454199713653, 0.6276544330204973, -0.01274609533953666], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9746, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 126, "teleop_active": true, "observed_at": 1792583574.0110261, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17813073338379523, 0.0006007185649074628, 0.10933604084359676], "quaternion_wxyz": [0.9924594124238932, -0.001733479457594899, -0.12063509431433993, -0.021644485670930757], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9390838081172745}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.813310939032276}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.203738976185854}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.077966107100853}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.012251621072988}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.432908619987252}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.308343492530486}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.30271694650823}], "left_finger_force_n": 47.046351451509246, "right_finger_force_n": 47.04396905902597, "bilateral_contact": true, "supported": false, "lift_m": 0.009210917803329902}, "simulation_time": 10.102000000000043, "positions": {"shoulder_pan": -0.009674711014587646, "shoulder_lift": -0.6593771396850752, "elbow_flex": 0.4410789173463241, "wrist_flex": 1.5652958307952416, "wrist_roll": -7.428995965603906e-06, "gripper": -0.17173845570978233}, "velocities": {"shoulder_pan": 0.04305171682545654, "shoulder_lift": -0.28507198079441853, "elbow_flex": -0.06789182940984247, "wrist_flex": -0.08521705784682196, "wrist_roll": -4.6090911513958355e-05, "gripper": -1.6503354640436722e-05}, "actuator_forces": {"shoulder_pan": 0.9299902807501503, "shoulder_lift": 3.3012815429523243, "elbow_flex": 2.0621508013376797, "wrist_flex": -2.2588225768238317, "wrist_roll": -7.116683375597843e-05, "gripper": -2.7865905342148096}, "applied_targets": {"shoulder_pan": -0.008832743421318585, "shoulder_lift": -0.6567445878455871, "elbow_flex": 0.44279103505223005, "wrist_flex": 1.5633110807227204, "wrist_roll": -7.523087494665659e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18054852490308887, 0.0013720825734369144, 0.09991785897494107], "quaternion_wxyz": [0.7812041078812743, 0.015974349729839715, 0.6239675499646681, -0.01137798625503833], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9747, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 127, "teleop_active": true, "observed_at": 1792583574.1491299, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17818720057358187, 0.000454870227072146, 0.10864947922718708], "quaternion_wxyz": [0.992633726457817, -0.001847292503154577, -0.11910018384869357, -0.022136368629100518], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.92645845097035}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.797741101821443}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.217615418525493}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.088898069376583}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.028788715332993}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.419056147231352}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.291574814259647}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.293451905297694}], "left_finger_force_n": 47.05950175602686, "right_finger_force_n": 47.00408286678869, "bilateral_contact": true, "supported": false, "lift_m": 0.008524356186920226}, "simulation_time": 10.202000000000076, "positions": {"shoulder_pan": -0.008817997682453678, "shoulder_lift": -0.6563577806336116, "elbow_flex": 0.4434666737106619, "wrist_flex": 1.5632354181085737, "wrist_roll": -7.580437191338266e-06, "gripper": -0.17173983091579875}, "velocities": {"shoulder_pan": -0.0007291592087380721, "shoulder_lift": -0.0031221801517099953, "elbow_flex": -0.005055861691393907, "wrist_flex": 0.0010582249588602071, "wrist_roll": -4.832825190852839e-07, "gripper": 2.820567625862751e-06}, "actuator_forces": {"shoulder_pan": -0.032416904964224, "shoulder_lift": -0.16487153038394808, "elbow_flex": -0.33439846228338865, "wrist_flex": -0.014758692962004716, "wrist_roll": 3.0559145434237017e-06, "gripper": -2.7852053133084667}, "applied_targets": {"shoulder_pan": -0.00885098260773555, "shoulder_lift": -0.6565274458168776, "elbow_flex": 0.4431244002073168, "wrist_flex": 1.563221608551266, "wrist_roll": -7.577747682076642e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18058018546822335, 0.0012385359092025345, 0.0993480809494458], "quaternion_wxyz": [0.7804231131839526, 0.016245880064133494, 0.624929764315714, -0.011773931438342999], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9748, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 128, "teleop_active": true, "observed_at": 1792583574.4306161, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17840356890681347, 0.00026290793624913464, 0.11126490447942082], "quaternion_wxyz": [0.991707453673332, -0.0016991224992446174, -0.12646072666007213, -0.02282813886623852], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.938694939094895}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.810701783310198}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2209909395184715}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.092997783733775}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.007867902371803}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.416028828918256}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.28926473519992}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.31228647851201}], "left_finger_force_n": 47.071253348029146, "right_finger_force_n": 47.017580042630186, "bilateral_contact": true, "supported": false, "lift_m": 0.011139781439153965}, "simulation_time": 10.30200000000011, "positions": {"shoulder_pan": -0.00742261168701319, "shoulder_lift": -0.6683328083149945, "elbow_flex": 0.43355816649197765, "wrist_flex": 1.5697602792562553, "wrist_roll": -7.601845180858549e-06, "gripper": -0.17174012501818223}, "velocities": {"shoulder_pan": 0.007129159022926972, "shoulder_lift": -0.20118577256127534, "elbow_flex": -0.1066853990981195, "wrist_flex": -0.024996042499133436, "wrist_roll": -2.6360715141737877e-06, "gripper": -1.6476278991486403e-05}, "actuator_forces": {"shoulder_pan": -0.06679961994547323, "shoulder_lift": -0.13623247463976895, "elbow_flex": -0.3041980623086147, "wrist_flex": -0.3697312343624617, "wrist_roll": 1.290519118374734e-05, "gripper": -2.7849015429914346}, "applied_targets": {"shoulder_pan": -0.007479634611928525, "shoulder_lift": -0.66864630890938, "elbow_flex": 0.4331488016513241, "wrist_flex": 1.5694144247896886, "wrist_roll": -7.5934593512839016e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18091760399541995, 0.0010454715313799124, 0.1019932705224025], "quaternion_wxyz": [0.7849880177384844, 0.016809744718591518, 0.6191635459405339, -0.012155158075694282], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9749, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 130, "teleop_active": true, "observed_at": 1792583574.6011705, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17862982442941197, 0.00031731837901369193, 0.1128346109097234], "quaternion_wxyz": [0.9910725945647604, -0.0015230760449429007, -0.13137719054234154, -0.02264566950294595], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.915777560538393}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7882427977148625}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.21623875211771}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.088703989294175}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.02557655034626}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.416788777054121}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.290478674550652}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.29752770039524}], "left_finger_force_n": 47.034539650011396, "right_finger_force_n": 47.004795152000014, "bilateral_contact": true, "supported": false, "lift_m": 0.01270948786945654}, "simulation_time": 10.402000000000143, "positions": {"shoulder_pan": -0.00785509820244659, "shoulder_lift": -0.6754448190864983, "elbow_flex": 0.42788135549587036, "wrist_flex": 1.572988705819744, "wrist_roll": -7.594034037666117e-06, "gripper": -0.1717400918557798}, "velocities": {"shoulder_pan": -0.03275446732582782, "shoulder_lift": -0.0972512276118074, "elbow_flex": -0.1073904838234368, "wrist_flex": 0.16576955326702353, "wrist_roll": 8.546553115766797e-06, "gripper": 1.6995192516635167e-05}, "actuator_forces": {"shoulder_pan": -0.6917582927652877, "shoulder_lift": -3.286374675629986, "elbow_flex": -3.35, "wrist_flex": 3.0365018512272854, "wrist_roll": -1.6555429506355523e-06, "gripper": -2.7848984934623218}, "applied_targets": {"shoulder_pan": -0.008484147191748583, "shoulder_lift": -0.678440778953409, "elbow_flex": 0.4247558328090774, "wrist_flex": 1.5756842199563315, "wrist_roll": -7.611127143897642e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1812497558674297, 0.001098177066211863, 0.10363398913702876], "quaternion_wxyz": [0.7881210445892551, 0.016792339746590033, 0.6151759514789089, -0.011907355852356048], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9750, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 131, "teleop_active": true, "observed_at": 1792583574.675338, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1788029775672419, 0.00035367253662361395, 0.11598536748493911], "quaternion_wxyz": [0.989831449191651, -0.0012234306965711015, -0.14044276570706385, -0.022539631075878065], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9340788858955}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.807608793502625}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.203212213878136}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.076742121485264}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 20.990701040901694}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.433182555279409}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.307926899644002}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.325691424922677}], "left_finger_force_n": 47.012343055663216, "right_finger_force_n": 47.066800879846085, "bilateral_contact": true, "supported": false, "lift_m": 0.015860244444672253}, "simulation_time": 10.502000000000177, "positions": {"shoulder_pan": -0.008049017022737581, "shoulder_lift": -0.6893447870741612, "elbow_flex": 0.4169628614750976, "wrist_flex": 1.5796897837143333, "wrist_roll": -7.676091388974227e-06, "gripper": -0.1717400384913337}, "velocities": {"shoulder_pan": 0.004036102118288449, "shoulder_lift": -0.07746731346907795, "elbow_flex": -0.022131761894725793, "wrist_flex": -0.09566717338310897, "wrist_roll": 4.053380749689441e-06, "gripper": -1.0406296031594288e-05}, "actuator_forces": {"shoulder_pan": -0.1323663791007892, "shoulder_lift": 2.471649890665958, "elbow_flex": 1.564343517397674, "wrist_flex": -1.0519628798742815, "wrist_roll": 4.75315682671746e-05, "gripper": -2.7849956590624174}, "applied_targets": {"shoulder_pan": -0.008165841351659561, "shoulder_lift": -0.6872647588695656, "elbow_flex": 0.4182771956738236, "wrist_flex": 1.5787136414306437, "wrist_roll": -7.62900757950531e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18157195748647598, 0.0011388719363330138, 0.10675394561551178], "quaternion_wxyz": [0.7935664509701368, 0.01687101431446268, 0.6081388793769889, -0.011608624413018262], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9751, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 132, "teleop_active": true, "observed_at": 1792583574.7459948, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17860375419124408, 0.0004607417921309181, 0.11642764918457611], "quaternion_wxyz": [0.9897252542384753, -0.0011416871805980428, -0.14125093422801785, -0.02215380898802927], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.923995819257588}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7970674080628655}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2276754953707165}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.100747084175995}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.03470229715895}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.406537386935652}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.280827813532579}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.291754796750794}], "left_finger_force_n": 47.08418810402612, "right_finger_force_n": 46.97911999721902, "bilateral_contact": true, "supported": false, "lift_m": 0.016302526144309257}, "simulation_time": 10.60200000000021, "positions": {"shoulder_pan": -0.008808680528999264, "shoulder_lift": -0.6922259293081562, "elbow_flex": 0.4152267040114016, "wrist_flex": 1.5826355046586895, "wrist_roll": -7.72237693338985e-06, "gripper": -0.17174035368880108}, "velocities": {"shoulder_pan": 0.008457286881355993, "shoulder_lift": 0.07582598499267104, "elbow_flex": 0.04107164785782433, "wrist_flex": 0.049435429282904286, "wrist_roll": 1.693367590235864e-06, "gripper": -2.5961443687231067e-05}, "actuator_forces": {"shoulder_pan": -0.10021135394595504, "shoulder_lift": -1.4330430369734586, "elbow_flex": -1.1241189487743668, "wrist_flex": 0.5113630042353634, "wrist_roll": 7.685702086777414e-05, "gripper": -2.7846588174531632}, "applied_targets": {"shoulder_pan": -0.008895559469334255, "shoulder_lift": -0.6934453601709285, "elbow_flex": 0.4142150767049641, "wrist_flex": 1.5831085986701734, "wrist_roll": -7.645958603538523e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18140053184357668, 0.0012470610017220989, 0.10732406678840362], "quaternion_wxyz": [0.7942982657740172, 0.01665925897095382, 0.6071948249456296, -0.011277350671712033], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9752, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 133, "teleop_active": true, "observed_at": 1792583574.8835485, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1789454256631258, 0.0005160399520131658, 0.11822748113762126], "quaternion_wxyz": [0.9888838458060393, -0.0009295716321460637, -0.1470531644647802, -0.021982771011223957], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.929075713888902}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.803248656654777}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.215694354584892}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.089867297350767}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.015514893850323}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.418609609578908}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.293990814318008}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.305783788530107}], "left_finger_force_n": 47.053400916329664, "right_finger_force_n": 47.01838421242702, "bilateral_contact": true, "supported": false, "lift_m": 0.0181023580973544}, "simulation_time": 10.702000000000243, "positions": {"shoulder_pan": -0.009175009227240192, "shoulder_lift": -0.6995717602048225, "elbow_flex": 0.40847936824090725, "wrist_flex": 1.5848471339305514, "wrist_roll": -7.700012735031516e-06, "gripper": -0.17174024070070604}, "velocities": {"shoulder_pan": 0.0006484024302944407, "shoulder_lift": -0.0540748609602181, "elbow_flex": -0.05069999808368583, "wrist_flex": -0.004213043154789677, "wrist_roll": 3.519866285016942e-07, "gripper": -2.7497270268790505e-06}, "actuator_forces": {"shoulder_pan": -0.006333850978645472, "shoulder_lift": 0.24327951183249752, "elbow_flex": -0.004836643361954884, "wrist_flex": -0.15829462018177765, "wrist_roll": 3.322206513880176e-05, "gripper": -2.784799244544132}, "applied_targets": {"shoulder_pan": -0.009180463726693672, "shoulder_lift": -0.6994191275811199, "elbow_flex": 0.40839170153849613, "wrist_flex": 1.5846966569755867, "wrist_roll": -7.667082013323643e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18183874357208396, 0.001301085282770649, 0.10910960935036022], "quaternion_wxyz": [0.797726507183957, 0.016656900467960804, 0.6026887184862704, -0.011012538865379215], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9753, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 135, "teleop_active": true, "observed_at": 1792583574.9881997, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1791637177020779, 0.0007751747588276696, 0.12005297618014377], "quaternion_wxyz": [0.9880457332363444, -0.0006145909516728673, -0.15271005950157673, -0.021092392904587445], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.913873140473043}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.79129583948858}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.216459541082627}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.09388224009816}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.028849022920433}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.411665346544538}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.290265101551176}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.295169901117426}], "left_finger_force_n": 47.04435978406284, "right_finger_force_n": 46.99710034921314, "bilateral_contact": true, "supported": false, "lift_m": 0.01992785313987691}, "simulation_time": 10.802000000000277, "positions": {"shoulder_pan": -0.010733862160773997, "shoulder_lift": -0.7075160140473625, "elbow_flex": 0.4015083894536465, "wrist_flex": 1.588301855305339, "wrist_roll": -7.79534587795476e-06, "gripper": -0.1717407010472745}, "velocities": {"shoulder_pan": 0.13567808606499476, "shoulder_lift": -0.0845336925916207, "elbow_flex": -0.09485773862652627, "wrist_flex": 0.16733492842083364, "wrist_roll": -3.233960183758333e-05, "gripper": 1.5926708167324284e-05}, "actuator_forces": {"shoulder_pan": 2.6098252513717775, "shoulder_lift": -3.2738283473822776, "elbow_flex": -3.35, "wrist_flex": 3.0484827931106793, "wrist_roll": -5.072201716633043e-07, "gripper": -2.784288049836306}, "applied_targets": {"shoulder_pan": -0.008378707190314095, "shoulder_lift": -0.7104904837094523, "elbow_flex": 0.39837443422315266, "wrist_flex": 1.5910081275512231, "wrist_roll": -7.730666674279597e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18216553187312842, 0.0015662492975176121, 0.11101447590545455], "quaternion_wxyz": [0.8012335017026639, 0.016216574085180395, 0.5980458745815742, -0.01015038768653075], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9754, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 136, "teleop_active": true, "observed_at": 1792583575.3248649, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1792359281103268, 0.0006823280767094605, 0.12336202967305679], "quaternion_wxyz": [0.9864859981136227, -0.00034594751694703486, -0.1624367617904275, -0.021437216823198917], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9345672481917715}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.812446280465076}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.193171639941168}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.071050672214473}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 20.961324061749863}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.439227576357583}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.318279282654117}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.351917973016807}], "left_finger_force_n": 46.97255990256235, "right_finger_force_n": 47.10942483202851, "bilateral_contact": true, "supported": false, "lift_m": 0.023236906632789933}, "simulation_time": 10.90200000000031, "positions": {"shoulder_pan": -0.010226838982494633, "shoulder_lift": -0.7219227227947292, "elbow_flex": 0.39000568590201823, "wrist_flex": 1.5948375444106366, "wrist_roll": -7.687513039158177e-06, "gripper": -0.1717411773130931}, "velocities": {"shoulder_pan": 0.02250317307830918, "shoulder_lift": -0.09824171622844806, "elbow_flex": -0.07691231251440064, "wrist_flex": -0.05244919903563555, "wrist_roll": -2.3966138124235384e-05, "gripper": -3.355428484248254e-06}, "actuator_forces": {"shoulder_pan": 0.5435556374971053, "shoulder_lift": 2.5356695372985314, "elbow_flex": 2.1009590273090453, "wrist_flex": -0.5815505749196745, "wrist_roll": -6.649418624680992e-06, "gripper": -2.783850836777333}, "applied_targets": {"shoulder_pan": -0.00973429754565758, "shoulder_lift": -0.7197937338950977, "elbow_flex": 0.3917415064582201, "wrist_flex": 1.5942965678003387, "wrist_roll": -7.707290845532573e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1823841026787436, 0.0014633674444866226, 0.11427835276402208], "quaternion_wxyz": [0.8068560310019375, 0.01661195530933887, 0.5904258956532402, -0.010229854283899189], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9755, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 137, "teleop_active": true, "observed_at": 1792583575.402543, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17918767310953698, 0.0006051798656791107, 0.12396564345219163], "quaternion_wxyz": [0.9862023246059115, -0.00033462311143629616, -0.16411461427748683, -0.021708439598976656], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9164116574925165}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.790311789558134}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.228624176866419}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.102524308932035}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.069742728600318}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.404174196902854}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.279285210623048}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.25894588902084}], "left_finger_force_n": 47.107614661449425, "right_finger_force_n": 46.94240529654674, "bilateral_contact": true, "supported": false, "lift_m": 0.023840520411924776}, "simulation_time": 11.002000000000344, "positions": {"shoulder_pan": -0.009788964568436214, "shoulder_lift": -0.7250155054722279, "elbow_flex": 0.3875563015339235, "wrist_flex": 1.5967985681493475, "wrist_roll": -7.742297521911413e-06, "gripper": -0.17174073298863482}, "velocities": {"shoulder_pan": -0.00045586029479753837, "shoulder_lift": 0.09712372817803375, "elbow_flex": 0.07133007196741226, "wrist_flex": 0.0383603470049024, "wrist_roll": -2.32275713617651e-07, "gripper": 4.1624679019007085e-06}, "actuator_forces": {"shoulder_pan": -0.018323502027719485, "shoulder_lift": -1.4158913698590823, "elbow_flex": -1.3763252491270919, "wrist_flex": 0.2714194125967424, "wrist_roll": -7.637623216320139e-07, "gripper": -2.784303012318702}, "applied_targets": {"shoulder_pan": -0.00980761785249209, "shoulder_lift": -0.7262049777428841, "elbow_flex": 0.3863504855946349, "wrist_flex": 1.5970571474648954, "wrist_roll": -7.741816431749942e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18240526273743043, 0.0013941206094850301, 0.11505736822675926], "quaternion_wxyz": [0.8081647880431382, 0.016795542529023363, 0.5886254722712143, -0.010374898160208729], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9756, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 138, "teleop_active": true, "observed_at": 1792583575.475282, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.179249670194557, 0.0006049829056068584, 0.12570447124411907], "quaternion_wxyz": [0.9853172264960801, -0.00016235448600671125, -0.1693459421309177, -0.021722999214780655], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.9311628263753295}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.805542505453131}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.218676675467887}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.09305635454569}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.01791016325463}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.41557313441364}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.291159090266659}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.303933082980645}], "left_finger_force_n": 47.06634852509667, "right_finger_force_n": 47.01066530766094, "bilateral_contact": true, "supported": false, "lift_m": 0.025579348203852215}, "simulation_time": 11.102000000000377, "positions": {"shoulder_pan": -0.009780742322599002, "shoulder_lift": -0.7326618965961863, "elbow_flex": 0.3812525423234024, "wrist_flex": 1.5999495099720775, "wrist_roll": -7.787663790535828e-06, "gripper": -0.17174095397671896}, "velocities": {"shoulder_pan": 0.00022141036385921748, "shoulder_lift": -0.05664419897784377, "elbow_flex": -0.04610854065399038, "wrist_flex": -0.009758004649717825, "wrist_roll": -4.3320599841524063e-07, "gripper": -9.02414190060335e-06}, "actuator_forces": {"shoulder_pan": 0.006529454811785129, "shoulder_lift": 0.28234992886223154, "elbow_flex": -0.06315869489526449, "wrist_flex": -0.20246873240148489, "wrist_roll": 2.5405341380707602e-05, "gripper": -2.7840782094910423}, "applied_targets": {"shoulder_pan": -0.009774021063884, "shoulder_lift": -0.7324761858902041, "elbow_flex": 0.38111864670311546, "wrist_flex": 1.599755533693644, "wrist_roll": -7.763096738236347e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18253797843743208, 0.0013944330332752088, 0.11676723545916934], "quaternion_wxyz": [0.8111437139618144, 0.016890241808433713, 0.5845128454044101, -0.01026297174927994], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9757, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 140, "teleop_active": true, "observed_at": 1792583575.6483335, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17935245947717446, 0.0008870977055829425, 0.12693944294647316], "quaternion_wxyz": [0.984917778987356, 0.00015583655144687817, -0.17178296349659555, -0.020677470878022144], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.265776401686552}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.154701221027809}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.4236157669904435}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.312540586331698}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 18.65627655555684}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.078751454703545}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.9687428802256095}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 27.673828823920598}], "left_finger_force_n": 39.812910531593346, "right_finger_force_n": 39.72132315884975, "bilateral_contact": true, "supported": false, "lift_m": 0.026814319906206308}, "simulation_time": 11.20200000000041, "positions": {"shoulder_pan": -0.011841604659591054, "shoulder_lift": -0.7384313373644247, "elbow_flex": 0.3765210709454257, "wrist_flex": 1.6028797848242027, "wrist_roll": -7.831303295645797e-06, "gripper": -0.16697400294102105}, "velocities": {"shoulder_pan": -0.011618305747137757, "shoulder_lift": -0.10017304719934224, "elbow_flex": -0.10893812522198146, "wrist_flex": 0.1537878034169714, "wrist_roll": 4.280149280350764e-06, "gripper": 0.09373168635119206}, "actuator_forces": {"shoulder_pan": -0.3809711881881448, "shoulder_lift": -3.2678603281426604, "elbow_flex": -3.35, "wrist_flex": 2.800494090435677, "wrist_roll": -1.2040807025204964e-06, "gripper": -0.5023626051637109}, "applied_targets": {"shoulder_pan": -0.012186259253257423, "shoulder_lift": -0.7414138271555164, "elbow_flex": 0.37337730182126494, "wrist_flex": 1.6053641434986432, "wrist_roll": -7.839863594206458e-06, "gripper": -0.16764798859378321}, "tcp": {"position_m": [0.18259813743011402, 0.0016879271093313505, 0.11807231948346787], "quaternion_wxyz": [0.8133929149561905, 0.016367848053846685, 0.5814092216556603, -0.00934753566005531], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9758, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 141, "teleop_active": true, "observed_at": 1792583575.719622, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1794583682076286, 0.0008932307490172154, 0.1307158126480965], "quaternion_wxyz": [0.9824739124399477, 0.0005068503476728935, -0.1852458199574649, -0.02070605384793694], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.520544162980453}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.390729229105726}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.234048851330131}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.104233917455401}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.61872822226148}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.617794038016196}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.48922565994278}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 27.85669499399423}], "left_finger_force_n": 48.868284383133194, "right_finger_force_n": 48.96371469195321, "bilateral_contact": true, "supported": false, "lift_m": 0.030590689607829652}, "simulation_time": 11.302000000000444, "positions": {"shoulder_pan": -0.011844247937838509, "shoulder_lift": -0.7541516307889667, "elbow_flex": 0.3632489688758122, "wrist_flex": 1.608687620342673, "wrist_roll": -7.910153196988163e-06, "gripper": -0.16769046997752168}, "velocities": {"shoulder_pan": 0.005032795432470911, "shoulder_lift": -0.1558814054313876, "elbow_flex": -0.0828748705664169, "wrist_flex": -0.08077757310820768, "wrist_roll": 2.8865214292968532e-06, "gripper": -0.18769357687332158}, "actuator_forces": {"shoulder_pan": -0.0909523234945766, "shoulder_lift": 2.800745063520367, "elbow_flex": 2.0400655543791117, "wrist_flex": -0.888902856640243, "wrist_roll": 4.688426444235394e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.011924416063085195, "shoulder_lift": -0.7518370895409509, "elbow_flex": 0.3649300038573497, "wrist_flex": 1.6078610064085042, "wrist_roll": -7.864317978430656e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18289759993950983, 0.0016966461427064177, 0.12181367386775892], "quaternion_wxyz": [0.8199243406701251, 0.01657131724175431, 0.5721601353611278, -0.00906898699245087], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9759, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 142, "teleop_active": true, "observed_at": 1792583575.8552318, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17939750317775113, 0.0006746729379280084, 0.1313268484415948], "quaternion_wxyz": [0.981926180175662, 0.0004169978954132081, -0.18803535302587898, -0.021529254766981858], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.920628030466393}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.7960949594059405}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.164168256743717}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.039635185683266}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 21.18433667460768}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.467147977836072}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.343810743167882}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.115117131485338}], "left_finger_force_n": 47.104863106907, "right_finger_force_n": 46.92607585248929, "bilateral_contact": true, "supported": false, "lift_m": 0.031201725401327957}, "simulation_time": 11.402000000000477, "positions": {"shoulder_pan": -0.010188717528075689, "shoulder_lift": -0.7568763746908151, "elbow_flex": 0.36078514531989553, "wrist_flex": 1.6099226026886713, "wrist_roll": -7.738883192599529e-06, "gripper": -0.17175299490620569}, "velocities": {"shoulder_pan": 0.010468388548846718, "shoulder_lift": 0.09337147188684164, "elbow_flex": 0.06949983301378222, "wrist_flex": 0.03068848272106817, "wrist_roll": -1.255456555699109e-05, "gripper": 0.0003679603540049879}, "actuator_forces": {"shoulder_pan": 0.3292949924626072, "shoulder_lift": -1.370084509900721, "elbow_flex": -1.3798989437598834, "wrist_flex": 0.22165754892989753, "wrist_roll": -0.0001471596227251397, "gripper": -2.771999416223082}, "applied_targets": {"shoulder_pan": -0.00989118959208696, "shoulder_lift": -0.7580281236891888, "elbow_flex": 0.35957528615868145, "wrist_flex": 1.6101318398819746, "wrist_roll": -7.886477777258835e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1829927246629872, 0.001460653690562398, 0.12260381545118819], "quaternion_wxyz": [0.8213381362069091, 0.017086780829431148, 0.5701033994323973, -0.00968616996920062], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9760, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 143, "teleop_active": true, "observed_at": 1792583575.9290843, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17944010727969542, 0.0007054739888306601, 0.13263481752719508], "quaternion_wxyz": [0.9816290793311067, 0.0006124468540092056, -0.18960172972063102, -0.02133446993386554], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.37483748025325}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.255029676778103}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.786619259964907}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.66681145648976}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 20.047764503431893}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.287132545495096}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.168475203742705}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 27.58641567721307}], "left_finger_force_n": 44.13106237691791, "right_finger_force_n": 44.04202342645087, "bilateral_contact": true, "supported": false, "lift_m": 0.032509694486928226}, "simulation_time": 11.50200000000051, "positions": {"shoulder_pan": -0.010510239454229202, "shoulder_lift": -0.7629308346267026, "elbow_flex": 0.35613549127049476, "wrist_flex": 1.612638379040032, "wrist_roll": -7.91537357179477e-06, "gripper": -0.165577334588471}, "velocities": {"shoulder_pan": -0.0036793763783953977, "shoulder_lift": -0.03451209506226159, "elbow_flex": -0.029164818163815227, "wrist_flex": -0.00329750802649196, "wrist_roll": 1.002707904377798e-06, "gripper": -0.06072705420027203}, "actuator_forces": {"shoulder_pan": -0.03145124811863198, "shoulder_lift": 0.2221642992908528, "elbow_flex": -0.14537149366293534, "wrist_flex": -0.19710311875974185, "wrist_roll": 3.488683586029724e-05, "gripper": -1.9224248018117578}, "applied_targets": {"shoulder_pan": -0.010546025530314286, "shoulder_lift": -0.7627782134041047, "elbow_flex": 0.3559434750592997, "wrist_flex": 1.612452425501226, "wrist_roll": -7.878806371122917e-06, "gripper": -0.16764798859378321}, "tcp": {"position_m": [0.18295090529159214, 0.0015024913217919129, 0.1238887171443492], "quaternion_wxyz": [0.823461599039556, 0.017071081522495913, 0.5670358934503986, -0.009479906211453044], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9761, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 145, "teleop_active": true, "observed_at": 1792583576.301676, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1793668492488417, 0.0007626484305493953, 0.13433040877647381], "quaternion_wxyz": [0.9800277898260288, 0.0007704370744994932, -0.19772128425881863, -0.021242206723095455], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.122763599531654}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.0114857003682625}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.422777740411577}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.311499841248183}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 18.87656953932003}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.928568369555537}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.818359023189734}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 27.851580408157744}], "left_finger_force_n": 39.745096420879705, "right_finger_force_n": 39.598507800903015, "bilateral_contact": true, "supported": false, "lift_m": 0.03420528573620696}, "simulation_time": 11.602000000000544, "positions": {"shoulder_pan": -0.011004607368725173, "shoulder_lift": -0.7700995771273828, "elbow_flex": 0.3497389394902492, "wrist_flex": 1.6153517056327724, "wrist_roll": -7.904120274461913e-06, "gripper": -0.17132873789984557}, "velocities": {"shoulder_pan": -0.06517211612300902, "shoulder_lift": -0.08866144171997282, "elbow_flex": -0.09886419161028814, "wrist_flex": 0.13585808003506378, "wrist_roll": 1.612399075147669e-05, "gripper": 0.1116887782531148}, "actuator_forces": {"shoulder_pan": -1.3131682758880796, "shoulder_lift": -3.2509137803581325, "elbow_flex": -3.35, "wrist_flex": 2.4679291934639878, "wrist_roll": -1.771595799726633e-06, "gripper": 0.03487035387510673}, "applied_targets": {"shoulder_pan": -0.012190757416438519, "shoulder_lift": -0.7730581132819037, "elbow_flex": 0.34659257065728794, "wrist_flex": 1.6175391887953434, "wrist_roll": -7.93636825596462e-06, "gripper": -0.17153}, "tcp": {"position_m": [0.18310211278976835, 0.0015576638825277151, 0.12564421441217083], "quaternion_wxyz": [0.8265353774876495, 0.01706501512899408, 0.5625507946526632, -0.00920100296992997], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9762, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 146, "teleop_active": true, "observed_at": 1792583576.3759792, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17979743128355666, 0.0008035421162535066, 0.13785435670445964], "quaternion_wxyz": [0.9796381611480646, 0.0013181146279393986, -0.19968504649787372, -0.02081388962706879], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.464864484285746}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.3605966056717147}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.7281392901952235}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.623871411581189}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 13.62008190837027}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 14.028069895574882}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.3175317974077485}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.214265157442443}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 29.367022752336887}], "left_finger_force_n": 39.825623595679026, "right_finger_force_n": 39.89881970718708, "bilateral_contact": true, "supported": false, "lift_m": 0.037729233664192785}, "simulation_time": 11.702000000000577, "positions": {"shoulder_pan": -0.011330318133952872, "shoulder_lift": -0.7847028197782814, "elbow_flex": 0.33748370851020315, "wrist_flex": 1.620391251972631, "wrist_roll": -8.052764600255458e-06, "gripper": -0.15214069842368702}, "velocities": {"shoulder_pan": -0.0071930356377316595, "shoulder_lift": -0.11695716992605251, "elbow_flex": -0.06272679401070687, "wrist_flex": -0.06881637467296328, "wrist_roll": 1.2158609027814694e-05, "gripper": 0.5677392936712015}, "actuator_forces": {"shoulder_pan": -0.2781823253829607, "shoulder_lift": 2.6508023828420164, "elbow_flex": 1.8998125287890275, "wrist_flex": -0.7730426826340135, "wrist_roll": 7.498488487484543e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.011580591005670045, "shoulder_lift": -0.782484828399318, "elbow_flex": 0.33905889582099297, "wrist_flex": 1.6196708456771811, "wrist_roll": -7.974785396879614e-06, "gripper": -0.15847197234371677}, "tcp": {"position_m": [0.18322276963563208, 0.001622756356307859, 0.12914639799478467], "quaternion_wxyz": [0.8325138461675942, 0.01713666581078354, 0.5536697091657591, -0.008768339434143195], "frame": "world"}, "contact_count": 9, "warning_count": 0}
{"cursor": 9763, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 147, "teleop_active": true, "observed_at": 1792583576.446695, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18005658186220194, 0.0007969271938662514, 0.13857197877061633], "quaternion_wxyz": [0.9810234203209518, 0.0015430445872299285, -0.19277150613422153, -0.020731961265786795], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.574852932617901}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.464902094754967}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.9109425718878486}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.776029370241193}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 15.575121880417806}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 15.121428550633912}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.302856381267727}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.3995419242982969}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.193961353015492}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 32.35816896072974}], "left_finger_force_n": 51.42327740055363, "right_finger_force_n": 51.25452861931126, "bilateral_contact": true, "supported": false, "lift_m": 0.03844685573034948}, "simulation_time": 11.80200000000061, "positions": {"shoulder_pan": -0.011321159813931947, "shoulder_lift": -0.7873987204642133, "elbow_flex": 0.3350863330744683, "wrist_flex": 1.6216436665691976, "wrist_roll": -7.993111853979239e-06, "gripper": -0.16038419677927349}, "velocities": {"shoulder_pan": -0.002268054159155597, "shoulder_lift": 0.08981241455502037, "elbow_flex": 0.06520809610694132, "wrist_flex": 0.02758294864746955, "wrist_roll": -2.416334074073754e-07, "gripper": -0.16619412203798456}, "actuator_forces": {"shoulder_pan": -0.03378278721122108, "shoulder_lift": -1.3489883695133358, "elbow_flex": -1.3523021866910767, "wrist_flex": 0.20499323782314605, "wrist_roll": -7.283097088731441e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.011357395223185211, "shoulder_lift": -0.7885337423794497, "elbow_flex": 0.33389715457591573, "wrist_flex": 1.6218355738694608, "wrist_roll": -7.998615222996862e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1832532180212753, 0.0016232001538870765, 0.12990433949653615], "quaternion_wxyz": [0.8338129810301861, 0.017179162680084476, 0.5517108600387276, -0.008712975983717255], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9764, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 5951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 148, "teleop_active": true, "observed_at": 1792583576.5868578, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17974908196005848, 0.0008614594259872772, 0.14025870371328364], "quaternion_wxyz": [0.9809139918949114, 0.001857960386709978, -0.19334474649637934, -0.020545011322487733], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.243340403827126}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.119809311056718}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.179710895648035}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.056179802877628}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 15.84061810853343}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 15.069448925499435}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.386614864908237}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.49477555909154963}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.264269986972591}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.44952841282062933}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 33.844119403573735}], "left_finger_force_n": 53.509107447442375, "right_finger_force_n": 53.439308227366745, "bilateral_contact": true, "supported": false, "lift_m": 0.04013358067301678}, "simulation_time": 11.902000000000644, "positions": {"shoulder_pan": -0.011718833830961018, "shoulder_lift": -0.7947894083223808, "elbow_flex": 0.3288879797099462, "wrist_flex": 1.6241911540134077, "wrist_roll": -8.074045482998494e-06, "gripper": -0.1698298417236903}, "velocities": {"shoulder_pan": 0.00017452434018577501, "shoulder_lift": -0.05656587672347723, "elbow_flex": -0.0452684518904196, "wrist_flex": -0.004521164860443216, "wrist_roll": 6.681384780593535e-07, "gripper": -0.05240291798131839}, "actuator_forces": {"shoulder_pan": -0.03964173337027077, "shoulder_lift": 0.2985566588660049, "elbow_flex": -0.05487905398922521, "wrist_flex": -0.19613173561947406, "wrist_roll": 4.670402796016354e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.01175783672997378, "shoulder_lift": -0.7945851470319333, "elbow_flex": 0.3287625654007804, "wrist_flex": 1.624004712551562, "wrist_roll": -8.027153938857642e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18326947995932666, 0.001681535813084084, 0.13161058162707995], "quaternion_wxyz": [0.8366885166111239, 0.017163740571635392, 0.5473452321793656, -0.0084219351209802], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9765, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 150, "teleop_active": true, "observed_at": 1792583576.6941903, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17969029737021358, 0.0010533142785695317, 0.14155528197353254], "quaternion_wxyz": [0.9811580415998177, 0.002220369175089742, -0.19217732426261214, -0.019795034831953853], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.462905534719661}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.356749486340965}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.168228656217921}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.0620726078392235}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 12.980845462838145}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 11.544008850312803}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.316998362305568}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.0}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.211861683840643}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.0}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 32.96967511397163}], "left_finger_force_n": 41.57481059826872, "right_finger_force_n": 41.49853516011784, "bilateral_contact": true, "supported": false, "lift_m": 0.04143015893326568}, "simulation_time": 12.002000000000677, "positions": {"shoulder_pan": -0.01323220234843631, "shoulder_lift": -0.8006637632640692, "elbow_flex": 0.3238386814813831, "wrist_flex": 1.6265450205505667, "wrist_roll": -8.062821902392018e-06, "gripper": -0.16689242308699895}, "velocities": {"shoulder_pan": -0.08062831459934017, "shoulder_lift": -0.09558482167198756, "elbow_flex": -0.10708243568450926, "wrist_flex": 0.1497548835934389, "wrist_roll": 1.9103091747509123e-05, "gripper": 0.1382182231436682}, "actuator_forces": {"shoulder_pan": -1.6357365695518133, "shoulder_lift": -3.23153487993784, "elbow_flex": -3.35, "wrist_flex": 2.7039859449109827, "wrist_roll": 1.178804197006847e-06, "gripper": 0.20269388366932617}, "applied_targets": {"shoulder_pan": -0.014705937587941965, "shoulder_lift": -0.8036122072112482, "elbow_flex": 0.32069456366744176, "wrist_flex": 1.6289432049440835, "wrist_roll": -8.101028085886734e-06, "gripper": -0.1669419922656333}, "tcp": {"position_m": [0.18328021946259124, 0.0018769469981919167, 0.13301693239864787], "quaternion_wxyz": [0.8390595987236195, 0.016875173954624446, 0.5437224635895389, -0.0077524758549744645], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9766, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 151, "teleop_active": true, "observed_at": 1792583576.830811, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17945911675766799, 0.0010388636867913865, 0.14465953623171365], "quaternion_wxyz": [0.9795965528187978, 0.0025593610107388187, -0.19998317396752646, -0.019767991972376383], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.36301073858215}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.241961496792432}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.1418573851926554}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.9944541084908165}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 15.141699270407319}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 14.081311018716981}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.848146945840664}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.41060561136908047}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.72826008676065}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.36075731830699803}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 33.69035782471266}], "left_finger_force_n": 51.96429401818236, "right_finger_force_n": 52.03812778699006, "bilateral_contact": true, "supported": false, "lift_m": 0.0445344131914468}, "simulation_time": 12.10200000000071, "positions": {"shoulder_pan": -0.01310439520428352, "shoulder_lift": -0.8138284880204496, "elbow_flex": 0.31320175236688763, "wrist_flex": 1.6312351223967914, "wrist_roll": -8.236765129945775e-06, "gripper": -0.1638488890155858}, "velocities": {"shoulder_pan": -0.023182149670023907, "shoulder_lift": -0.1080478846360017, "elbow_flex": -0.06450253812806153, "wrist_flex": -0.05248370993461121, "wrist_roll": 2.3526008939336364e-05, "gripper": -0.10585700149704923}, "actuator_forces": {"shoulder_pan": -0.47372108306748295, "shoulder_lift": 2.660135286380523, "elbow_flex": 2.000214670046887, "wrist_flex": -0.6337476702510685, "wrist_roll": 7.001005052453997e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.013534573005606058, "shoulder_lift": -0.8115901946476437, "elbow_flex": 0.31486303792218395, "wrist_flex": 1.630644848315536, "wrist_roll": -8.156883911972678e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18314933972374065, 0.0018733735178982068, 0.13609941409739373], "quaternion_wxyz": [0.844122131162758, 0.017053616410284175, 0.535826708545285, -0.007532612966323119], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9767, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 152, "teleop_active": true, "observed_at": 1792583577.1095266, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17950432136416242, 0.0009426728851187125, 0.1451347444894495], "quaternion_wxyz": [0.9797426013233272, 0.0025840125705173986, -0.19923849699361917, -0.020044434313775263], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.336565465524214}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.220787935101698}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.925651140686232}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.781364436468563}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 14.720039604973746}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 13.517889801379585}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.178429774842723}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.33391551153182847}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.063764005200742}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.2885009887983697}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 33.4705614373333}], "left_finger_force_n": 50.502298384134036, "right_finger_force_n": 50.33517171770696, "bilateral_contact": true, "supported": false, "lift_m": 0.045009621449182635}, "simulation_time": 12.202000000000744, "positions": {"shoulder_pan": -0.012274204143979773, "shoulder_lift": -0.8159701106298569, "elbow_flex": 0.3111528037778841, "wrist_flex": 1.6320068922820703, "wrist_roll": -8.082782233074121e-06, "gripper": -0.16139684856343678}, "velocities": {"shoulder_pan": 0.003128105704359646, "shoulder_lift": 0.07366860079709513, "elbow_flex": 0.05742216301480714, "wrist_flex": 0.016824215173737014, "wrist_roll": -7.87901194804242e-06, "gripper": -0.04531904823807003}, "actuator_forces": {"shoulder_pan": 0.23171865663473667, "shoulder_lift": -1.260961231368242, "elbow_flex": -1.3393207514085361, "wrist_flex": 0.12834626856329123, "wrist_roll": -9.625323560940799e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.012066522817726516, "shoulder_lift": -0.8170405524998979, "elbow_flex": 0.3099698536684937, "wrist_flex": 1.6321243703708683, "wrist_roll": -8.178243969631032e-06, "gripper": -0.16764798859378321}, "tcp": {"position_m": [0.1831861184059083, 0.001761591230585197, 0.13675128471850906], "quaternion_wxyz": [0.8452325489248297, 0.017299760719347242, 0.5340614605264488, -0.007811075306553725], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9768, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 153, "teleop_active": true, "observed_at": 1792583577.189964, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17938008222407337, 0.001049300537404653, 0.1466636508271745], "quaternion_wxyz": [0.9785730939545515, 0.002788216824116252, -0.20494220724138276, -0.019637141497375818], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.0405775282153344}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.927795223811198}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.666161773580465}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.505410612968605}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 14.42619096194716}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 13.29292519059631}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.807836301301637}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.22288196958454362}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.69613699583795}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.18132608377831452}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 32.86127079038221}], "left_finger_force_n": 48.859061291119076, "right_finger_force_n": 48.76945214088465, "bilateral_contact": true, "supported": false, "lift_m": 0.046538527786907646}, "simulation_time": 12.302000000000778, "positions": {"shoulder_pan": -0.013097569345720001, "shoulder_lift": -0.8226423812300923, "elbow_flex": 0.30581557167384216, "wrist_flex": 1.6344721000339315, "wrist_roll": -8.23749395704073e-06, "gripper": -0.15793015620420783}, "velocities": {"shoulder_pan": -0.005449636953056785, "shoulder_lift": -0.04684834737770477, "elbow_flex": -0.036325998883323975, "wrist_flex": -0.002367266846216385, "wrist_roll": 6.637562330238728e-07, "gripper": -0.1641211696927345}, "actuator_forces": {"shoulder_pan": 0.016642005477558897, "shoulder_lift": 0.2979413771294048, "elbow_flex": -0.08908556984658844, "wrist_flex": -0.19815962931943432, "wrist_roll": 4.129577186840448e-05, "gripper": -2.6459109163432117}, "applied_targets": {"shoulder_pan": -0.013088036223074242, "shoulder_lift": -0.8224291290982855, "elbow_flex": 0.3056681191566547, "wrist_flex": 1.6342842840264258, "wrist_roll": -8.194642742245786e-06, "gripper": -0.16076597718756644}, "tcp": {"position_m": [0.18307599386649068, 0.0018765469905503256, 0.13824060240467964], "quaternion_wxyz": [0.8476496623976342, 0.017168478323942304, 0.5302274114218888, -0.007361070985901406], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9769, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 155, "teleop_active": true, "observed_at": 1792583577.3713033, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1791132966014554, 0.0008766529869816022, 0.14780876585118427], "quaternion_wxyz": [0.976991779831733, 0.0027196419492484312, -0.2122840727163504, -0.02037493950541659], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.497405876479167}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.3753608675676645}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.302826257576918}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.180781248665416}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 15.768500528080114}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 14.798476568651365}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.400072508531485}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.5411006706493379}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.279199444244071}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.4875238896094562}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 34.03910522979705}], "left_finger_force_n": 53.92335134702064, "right_finger_force_n": 53.7470017428314, "bilateral_contact": true, "supported": false, "lift_m": 0.047683642810917415}, "simulation_time": 12.402000000000811, "positions": {"shoulder_pan": -0.011939415559604342, "shoulder_lift": -0.8274952083939082, "elbow_flex": 0.3014719860351463, "wrist_flex": 1.636059691085379, "wrist_roll": -8.235764740098727e-06, "gripper": -0.16868535493233647}, "velocities": {"shoulder_pan": -0.0556598548183149, "shoulder_lift": -0.10155707147849266, "elbow_flex": -0.11044926820113216, "wrist_flex": 0.09038347462092745, "wrist_roll": 1.2616056380345907e-05, "gripper": -0.11269582120190827}, "actuator_forces": {"shoulder_pan": -1.1010447368452567, "shoulder_lift": -3.2046549675600318, "elbow_flex": -3.35, "wrist_flex": 1.608790677076513, "wrist_roll": -8.159647129479114e-07, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.012934737504324618, "shoulder_lift": -0.8304231704309011, "elbow_flex": 0.2983273258495302, "wrist_flex": 1.637483123977107, "wrist_roll": -8.260996852859409e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1830809727606305, 0.001695040416585174, 0.13943697663472937], "quaternion_wxyz": [0.8496359497107403, 0.017569552595023716, 0.5270191154515671, -0.007804852938158391], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9770, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 156, "teleop_active": true, "observed_at": 1792583577.4466102, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17967200367925212, 0.0009916436399044408, 0.1503403322681299], "quaternion_wxyz": [0.9812098110109048, 0.003770300645003097, -0.19191374543201395, -0.019550087550882278], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.235137224208844}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.116653131272353}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1744145019183347}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0505256096548385}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.615984434321306}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.433948510992135}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.324125106295026}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 3.104048905769805}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.206778764070299}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 2.9157800025241976}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 31.485938410175223}], "left_finger_force_n": 26.62666341236781, "right_finger_force_n": 50.03667118883455, "bilateral_contact": true, "supported": false, "lift_m": 0.050215209227863045}, "simulation_time": 12.502000000000844, "positions": {"shoulder_pan": -0.012818130942688815, "shoulder_lift": -0.8382956863553885, "elbow_flex": 0.29228524709445075, "wrist_flex": 1.6389960743327199, "wrist_roll": -8.35095305980959e-06, "gripper": -0.15830161702536882}, "velocities": {"shoulder_pan": 0.003589606465898218, "shoulder_lift": -0.029663705503581966, "elbow_flex": -0.012769848233131695, "wrist_flex": -0.03318218659955653, "wrist_roll": 2.6653995367399844e-06, "gripper": 0.4115775367152022}, "actuator_forces": {"shoulder_pan": -0.027688768267514874, "shoulder_lift": 2.1131417639455776, "elbow_flex": 1.546694270883222, "wrist_flex": -0.42716587569088915, "wrist_roll": 4.7090028846548046e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.01284107108630183, "shoulder_lift": -0.8364715555567774, "elbow_flex": 0.29359192326530076, "wrist_flex": 1.6385953327363676, "wrist_roll": -8.304038123730981e-06, "gripper": -0.16305998046874998}, "tcp": {"position_m": [0.18302889727270835, 0.0018382388304445199, 0.14214870570149243], "quaternion_wxyz": [0.8541235732736678, 0.017462839612646757, 0.5197273269631657, -0.007174706865551355], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9771, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 157, "teleop_active": true, "observed_at": 1792583577.5859008, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18061325063118072, 0.001214991232008952, 0.15037788301278876], "quaternion_wxyz": [0.9835264518275676, 0.004364977238862198, -0.1797780906979545, -0.018344035384238695], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.348442189889439}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.232729150878754}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2389316560945463}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1779262200772984}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.6313786634354}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 1.300379916648034}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.264149591981518}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 3.611042344243677}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.149547694468673}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 3.409048085053825}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 28.5967872086373}], "left_finger_force_n": 24.929787797023472, "right_finger_force_n": 50.03057492438499, "bilateral_contact": true, "supported": false, "lift_m": 0.050252759972521904}, "simulation_time": 12.602000000000878, "positions": {"shoulder_pan": -0.014553632322588392, "shoulder_lift": -0.8390172623739226, "elbow_flex": 0.29053120333444743, "wrist_flex": 1.6379124570514392, "wrist_roll": -8.480482587009195e-06, "gripper": -0.14729221201837564}, "velocities": {"shoulder_pan": -0.00977482760164006, "shoulder_lift": 0.03568586782809082, "elbow_flex": 0.02838549869695331, "wrist_flex": 0.012171922000066518, "wrist_roll": 1.0154755574692661e-05, "gripper": -0.4134423928850364}, "actuator_forces": {"shoulder_pan": -0.3210862607817955, "shoulder_lift": -0.8453746548672143, "elbow_flex": -1.2221643161895486, "wrist_flex": -0.2017451295257615, "wrist_roll": 0.00013911425693058886, "gripper": -1.6798974234921786}, "applied_targets": {"shoulder_pan": -0.014843719794235589, "shoulder_lift": -0.8397555022140766, "elbow_flex": 0.2894303353409555, "wrist_flex": 1.6377293015591181, "wrist_roll": -8.338739894980228e-06, "gripper": -0.14929595765631645}, "tcp": {"position_m": [0.18330274420806328, 0.002088660335120868, 0.14265248322963836], "quaternion_wxyz": [0.8551310827879737, 0.017055238887531438, 0.5180917117718489, -0.006397520587882283], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9772, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 158, "teleop_active": true, "observed_at": 1792583577.6636279, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17987316007470353, 0.001010798168630621, 0.15124556829464234], "quaternion_wxyz": [0.9832575143965604, 0.00448297072938554, -0.1811758433543045, -0.018970428065675782], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.8772957221991735}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.773959709703295}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9476915204729748}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8749311587423048}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.176688843812357}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 1.4758034817803527}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.259953939715932}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.335945696634786}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.157610217567681}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.175016111766913}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 27.224857399386}], "left_finger_force_n": 23.12637043671046, "right_finger_force_n": 48.15338336507131, "bilateral_contact": true, "supported": false, "lift_m": 0.05112044525437548}, "simulation_time": 12.702000000000911, "positions": {"shoulder_pan": -0.013002392918785377, "shoulder_lift": -0.8454700820369495, "elbow_flex": 0.28637075861757355, "wrist_flex": 1.6414076918206726, "wrist_roll": -8.440048233471776e-06, "gripper": -0.1570444352132138}, "velocities": {"shoulder_pan": 0.005765220996303702, "shoulder_lift": -0.04116884566272809, "elbow_flex": -0.029768818022273366, "wrist_flex": -0.007331709033418112, "wrist_roll": -6.306034856492033e-07, "gripper": -0.0452049402974731}, "actuator_forces": {"shoulder_pan": -0.10822699994830742, "shoulder_lift": 0.31007775699777085, "elbow_flex": -0.18175029404352472, "wrist_flex": -0.2565232511465183, "wrist_roll": 3.358810508058245e-05, "gripper": -1.3900761869804228}, "applied_targets": {"shoulder_pan": -0.013097533158368655, "shoulder_lift": -0.8452411643293677, "elbow_flex": 0.28614777490935595, "wrist_flex": 1.6411653191319326, "wrist_roll": -8.409432596808354e-06, "gripper": -0.15847197234371677}, "tcp": {"position_m": [0.18290679072387722, 0.0018638516368734612, 0.14385709166759583], "quaternion_wxyz": [0.8568838918338322, 0.017510774316974547, 0.5151648827428759, -0.0069650762410982826], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9773, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 160, "teleop_active": true, "observed_at": 1792583578.0372102, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1801156842121462, 0.0010185063526885845, 0.15088493578528034], "quaternion_wxyz": [0.9840766319485599, 0.004630064479312169, -0.17669341753199552, -0.018739828082449058], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.987333047914091}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.8865121704500565}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.4419403020501427}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.3758822621691529}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.042322143336803}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 1.4558627399540236}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.63201191878414}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.623237607076263}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.532159179930547}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.472604735472692}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 25.612837374466274}], "left_finger_force_n": 27.18985266587427, "right_finger_force_n": 49.87285081572992, "bilateral_contact": true, "supported": false, "lift_m": 0.05075981274501348}, "simulation_time": 12.802000000000945, "positions": {"shoulder_pan": -0.013002928099966539, "shoulder_lift": -0.8452462229450649, "elbow_flex": 0.2865586000390366, "wrist_flex": 1.6413892820885745, "wrist_roll": -8.490744183258042e-06, "gripper": -0.15293491398942452}, "velocities": {"shoulder_pan": 0.03364945001158079, "shoulder_lift": -0.1254499437307884, "elbow_flex": -0.13129541561957905, "wrist_flex": 0.05774107291327793, "wrist_roll": -8.511459333450582e-06, "gripper": -0.10235445540905105}, "actuator_forces": {"shoulder_pan": 0.6793621388454216, "shoulder_lift": -3.1050190590751754, "elbow_flex": -3.3421380357244743, "wrist_flex": 0.9729752019218267, "wrist_roll": -7.316007759154697e-08, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.012389015521450088, "shoulder_lift": -0.8481056004655981, "elbow_flex": 0.2834758785808724, "wrist_flex": 1.6422484771743036, "wrist_roll": -8.473721264591132e-06, "gripper": -0.15688396578134967}, "tcp": {"position_m": [0.1829120503651393, 0.0018720337824977484, 0.14375243723418146], "quaternion_wxyz": [0.8567206273123905, 0.017490528377463788, 0.5154372555381321, -0.0069486515137256325], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9774, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 161, "teleop_active": true, "observed_at": 1792583578.1136618, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17942347906665226, 0.0009403613534952099, 0.15446575450920796], "quaternion_wxyz": [0.9814917797384978, 0.005032470960461764, -0.19048091496819952, -0.019120187621104633], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.7784961005913225}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.679118886440895}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.6969973530416465}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.5710529328809237}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.454286101335294}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.696919825702612}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.799242037648278}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.744748322659287}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.700819099243487}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.646325384254496}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 24.224916723313534}], "left_finger_force_n": 29.876871199992692, "right_finger_force_n": 51.11605156711908, "bilateral_contact": true, "supported": false, "lift_m": 0.05434063146894111}, "simulation_time": 12.902000000000978, "positions": {"shoulder_pan": -0.012376804365136433, "shoulder_lift": -0.8601489722465663, "elbow_flex": 0.2731944689248536, "wrist_flex": 1.6445094472004627, "wrist_roll": -8.53880008057557e-06, "gripper": -0.1728178897340449}, "velocities": {"shoulder_pan": 0.0001881810937579027, "shoulder_lift": -0.05316743998310841, "elbow_flex": -0.0176273672448264, "wrist_flex": -0.04684484831152043, "wrist_roll": 9.657916363739358e-08, "gripper": 0.006673150527411234}, "actuator_forces": {"shoulder_pan": -0.0002042017688204112, "shoulder_lift": 2.1594262176166694, "elbow_flex": 1.323850254516401, "wrist_flex": -0.6373297106231348, "wrist_roll": 2.7972529456792017e-05, "gripper": -1.7116195428067442}, "applied_targets": {"shoulder_pan": -0.012376881771720152, "shoulder_lift": -0.8583034766817852, "elbow_flex": 0.2743048409468128, "wrist_flex": 1.6439159275003672, "wrist_roll": -8.511923058941643e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18289515065656653, 0.0017719571895898894, 0.14767870989915577], "quaternion_wxyz": [0.8631687672370882, 0.01789361286816733, 0.5045506170315428, -0.006940658327476776], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9775, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 162, "teleop_active": true, "observed_at": 1792583578.1882184, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1795756650341208, 0.0009418638752550209, 0.15370352962809763], "quaternion_wxyz": [0.9827033583668702, 0.005109654786989089, -0.18413699278750473, -0.01901496173038168], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.98735177204696}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.890767622546069}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.5664763649596847}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.4513284057224924}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.980106504653144}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.592386909468778}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.685852388400992}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.9601869981645885}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.590195694072491}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.86453030383609}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 22.790799343288178}], "left_finger_force_n": 28.46841757939713, "right_finger_force_n": 49.891564727762336, "bilateral_contact": true, "supported": false, "lift_m": 0.05357840658783078}, "simulation_time": 13.002000000001011, "positions": {"shoulder_pan": -0.012376325700030125, "shoulder_lift": -0.8580689118784424, "elbow_flex": 0.2749968830052035, "wrist_flex": 1.644089814502249, "wrist_roll": -8.585674545582307e-06, "gripper": -0.1728044266891068}, "velocities": {"shoulder_pan": 3.0869642367082785e-06, "shoulder_lift": -0.0025499273106792367, "elbow_flex": -0.004773435697570304, "wrist_flex": 0.0006629612016111851, "wrist_roll": -5.184604591068059e-07, "gripper": -0.000906045366897727}, "actuator_forces": {"shoulder_pan": 0.00014594176443338824, "shoulder_lift": -0.12653561437241478, "elbow_flex": -0.3445822645721819, "wrist_flex": -0.0727969077609032, "wrist_roll": 3.466944193655959e-05, "gripper": -1.72177996377593}, "applied_targets": {"shoulder_pan": -0.012376178044636643, "shoulder_lift": -0.858198736044733, "elbow_flex": 0.2746451790432324, "wrist_flex": 1.6440176685713535, "wrist_roll": -8.551481842060837e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18291606009464265, 0.0017720940413182412, 0.14716937526491145], "quaternion_wxyz": [0.8623504576359688, 0.017865266035113615, 0.5059484145041566, -0.006980139343830627], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9776, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 163, "teleop_active": true, "observed_at": 1792583578.3286877, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1795319643322126, 0.001245961433783495, 0.15566913213369324], "quaternion_wxyz": [0.9818536823121432, 0.005623489266567049, -0.1887139417653704, -0.01785416147370162], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.059115344803553}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.966498441909191}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.473952913673784}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.3682482624700492}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.693410848707613}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.0657925779744004}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.619199288496007}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.0773033783671035}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.527471745047098}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.985575834918195}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 21.833224389951525}], "left_finger_force_n": 27.62701838953859, "right_finger_force_n": 49.042774636779924, "bilateral_contact": true, "supported": false, "lift_m": 0.05554400909342638}, "simulation_time": 13.102000000001045, "positions": {"shoulder_pan": -0.014519414841648684, "shoulder_lift": -0.8665038052935199, "elbow_flex": 0.26722393697875035, "wrist_flex": 1.6458188589839062, "wrist_roll": -8.646969337360011e-06, "gripper": -0.17286088263461297}, "velocities": {"shoulder_pan": -0.006667005747764367, "shoulder_lift": -0.09667157992147438, "elbow_flex": -0.07873809312078424, "wrist_flex": -0.0032435610169421368, "wrist_roll": -5.536762675113197e-07, "gripper": -0.00014303363771881865}, "actuator_forces": {"shoulder_pan": 0.11956363498417666, "shoulder_lift": 0.3458601864516595, "elbow_flex": 0.012369235755215868, "wrist_flex": -0.19584545542716114, "wrist_roll": 5.2188440421943594e-05, "gripper": -1.6661645666538334}, "applied_targets": {"shoulder_pan": -0.014414991000686087, "shoulder_lift": -0.8662868376747516, "elbow_flex": 0.2671307160983319, "wrist_flex": 1.6456315920144564, "wrist_roll": -8.59324557544718e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1828828630727124, 0.0020785240222020336, 0.14936173349243256], "quaternion_wxyz": [0.8659095569974434, 0.017457320205953475, 0.49986120038142634, -0.005887395430692831], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9777, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 165, "teleop_active": true, "observed_at": 1792583578.436241, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17958358437937127, 0.0012357926159009954, 0.15536186239348304], "quaternion_wxyz": [0.9821530574475498, 0.005676193085232147, -0.18715024638045394, -0.017830812046109992], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.190128022888356}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1110294485220225}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.25045409005622143}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.20046158021816116}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.8573053888979336}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 0.296143424861019}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.703559402265602}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.5890380701143805}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.625220376772494}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.510699044621268}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 21.192421050985537}], "left_finger_force_n": 16.905521955443714, "right_finger_force_n": 41.620937944759284, "bilateral_contact": true, "supported": false, "lift_m": 0.055236739353216185}, "simulation_time": 13.202000000001078, "positions": {"shoulder_pan": -0.014319944584084756, "shoulder_lift": -0.8664132935953393, "elbow_flex": 0.2675406041305876, "wrist_flex": 1.645938272861615, "wrist_roll": -8.731728440011566e-06, "gripper": -0.17261580628825246}, "velocities": {"shoulder_pan": 0.06006898926974214, "shoulder_lift": -0.12333889108129568, "elbow_flex": -0.1319951146529691, "wrist_flex": 0.07758275933262329, "wrist_roll": -1.5556094956440346e-05, "gripper": 0.12683785388572277}, "actuator_forces": {"shoulder_pan": 1.1879924174304364, "shoulder_lift": -3.080051901560296, "elbow_flex": -3.35, "wrist_flex": 1.307416017515152, "wrist_roll": 4.512385594103441e-07, "gripper": 1.3371631233365235}, "applied_targets": {"shoulder_pan": -0.013250716896834897, "shoulder_lift": -0.8692495947313459, "elbow_flex": 0.2644407248707152, "wrist_flex": 1.647092652790914, "wrist_roll": -8.700616250098905e-06, "gripper": -0.17153}, "tcp": {"position_m": [0.18286766163745508, 0.0020687960590198696, 0.14927174126791634], "quaternion_wxyz": [0.8657782512245996, 0.017469005315275243, 0.5000877703042986, -0.005922461637146931], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9778, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 166, "teleop_active": true, "observed_at": 1792583578.575211, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17985759343449184, 0.0016393768495020842, 0.1579660535166717], "quaternion_wxyz": [0.979680191031589, 0.006280613257341993, -0.1998017673471525, -0.016325776011382038], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 9.978708934615712}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 9.887075780007118}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.8940743791987837}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.771725568803717}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 9.930492176975548}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.916664274866991}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 11.061150334494025}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.269245330024827}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.970397092828113}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.178492088358918}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 19.253730677746816}], "left_finger_force_n": 40.37874111446787, "right_finger_force_n": 53.7330155234527, "bilateral_contact": true, "supported": false, "lift_m": 0.057840930476404845}, "simulation_time": 13.302000000001112, "positions": {"shoulder_pan": -0.01703691184949809, "shoulder_lift": -0.8762648385089791, "elbow_flex": 0.25799182867004417, "wrist_flex": 1.6467121580934747, "wrist_roll": -8.645630733103653e-06, "gripper": -0.16823347173616923}, "velocities": {"shoulder_pan": 0.06701795497656073, "shoulder_lift": -0.009620407590905822, "elbow_flex": 0.007996928306479328, "wrist_flex": -0.008337877292790152, "wrist_roll": -5.2578390461762746e-05, "gripper": -0.6084960598333488}, "actuator_forces": {"shoulder_pan": 1.0690546969497206, "shoulder_lift": 1.4432996996391694, "elbow_flex": 1.2531671889174731, "wrist_flex": 0.07179594129206635, "wrist_roll": -6.1024136309513824e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": -0.016061993348000788, "shoulder_lift": -0.8750049141292506, "elbow_flex": 0.2590553732547318, "wrist_flex": 1.6467669333645267, "wrist_roll": -8.734698673618729e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18297204135411713, 0.002464018270654317, 0.15213468424208224], "quaternion_wxyz": [0.8704846750209466, 0.016971203439529497, 0.49188226563678134, -0.00449950658601322], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9779, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 167, "teleop_active": true, "observed_at": 1792583578.648693, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1797300789515419, 0.0014617034636628386, 0.1572216710347163], "quaternion_wxyz": [0.9802324465325755, 0.006154873422397474, -0.19702521790256933, -0.01695676290922484], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.9546821477628695}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.8694091192039854}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.4589341316624311}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.362245282945698}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.737724742294714}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.058498266131521}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.697529782135431}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.065155546630381}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.613075593021849}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.980701357516796}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 18.524680473529298}], "left_finger_force_n": 28.44149369000122, "right_finger_force_n": 45.88114275283375, "bilateral_contact": true, "supported": false, "lift_m": 0.05709654799444944}, "simulation_time": 13.402000000001145, "positions": {"shoulder_pan": -0.016021623606882463, "shoulder_lift": -0.8747902290155519, "elbow_flex": 0.25976861395425715, "wrist_flex": 1.6469497008860707, "wrist_roll": -8.842913473255705e-06, "gripper": -0.17276022900555235}, "velocities": {"shoulder_pan": -0.0007168938046968494, "shoulder_lift": -0.0018833119539218754, "elbow_flex": -0.0046441786390568176, "wrist_flex": 0.0006044955231199387, "wrist_roll": -9.610517999246476e-07, "gripper": 0.000226976801274401}, "actuator_forces": {"shoulder_pan": -0.03195990798249326, "shoulder_lift": -0.14230502958355373, "elbow_flex": -0.3500254891435475, "wrist_flex": -0.07671558808124246, "wrist_roll": 2.1098859417161345e-05, "gripper": -1.7674778986533966}, "applied_targets": {"shoulder_pan": -0.016054141200508257, "shoulder_lift": -0.874934669320274, "elbow_flex": 0.25941175964801166, "wrist_flex": 1.6468735546832953, "wrist_roll": -8.82258795303948e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18289026691958749, 0.002296798496840601, 0.15162387308195208], "quaternion_wxyz": [0.8696251426550177, 0.017221352447776003, 0.4933863522884368, -0.0050441706572444504], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9780, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 168, "teleop_active": true, "observed_at": 1792583578.9247255, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18056965629758706, 0.0005760056446144885, 0.15568165798781], "quaternion_wxyz": [0.9807824459161343, 0.00538195119734255, -0.19403152170581558, -0.019712863023923957], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.290560632977172}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.228971657648936}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.06533123424878415}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.04479206086847292}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 1.638388464589156}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 0.0}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.212088338631172}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.524247600691891}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.151090775186}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.463250037246721}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 17.812399803781545}], "left_finger_force_n": 12.268044050332522, "right_finger_force_n": 35.16307655553733, "bilateral_contact": true, "supported": false, "lift_m": 0.055556534947543146}, "simulation_time": 13.502000000001178, "positions": {"shoulder_pan": -0.009988623461614873, "shoulder_lift": -0.8703944049809371, "elbow_flex": 0.2648414908772506, "wrist_flex": 1.6470181341684318, "wrist_roll": -8.806486790040697e-06, "gripper": -0.15257844168514148}, "velocities": {"shoulder_pan": -0.00355344394784414, "shoulder_lift": 0.03799793504256238, "elbow_flex": 0.029767609427959717, "wrist_flex": -0.00016335345063090112, "wrist_roll": 2.1710318389711675e-06, "gripper": -0.13917828992384174}, "actuator_forces": {"shoulder_pan": -0.3639102360540587, "shoulder_lift": -0.4599522940715133, "elbow_flex": -0.7644409168332231, "wrist_flex": -0.05958965359377544, "wrist_roll": -5.172081715639626e-05, "gripper": 1.4441923830626422}, "applied_targets": {"shoulder_pan": -0.010309645450556163, "shoulder_lift": -0.8707882562708328, "elbow_flex": 0.26414150137377135, "wrist_flex": 1.646957693791018, "wrist_roll": -8.864035434114468e-06, "gripper": -0.1515899609375}, "tcp": {"position_m": [0.18274209072564485, 0.0014252694948293676, 0.15021851580491768], "quaternion_wxyz": [0.8672811502749164, 0.018633991520310894, 0.4974089277018522, -0.007780705644882285], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9781, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 170, "teleop_active": true, "observed_at": 1792583579.0995462, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1798756095219214, 0.0006736574350690605, 0.15534108106052177], "quaternion_wxyz": [0.97992104872562, 0.005419553572136936, -0.1983451026022271, -0.01961088925245979], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.162621951388206}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.09579427708183}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.3336098873622153}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.28885297649465674}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.93149806802303}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.289317851468172}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.350417634237076}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.331615522865217}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.2842316767394575}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.2654295653675955}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 16.470293092493}], "left_finger_force_n": 20.101695011818112, "right_finger_force_n": 37.70198749170235, "bilateral_contact": true, "supported": false, "lift_m": 0.05521595802025492}, "simulation_time": 13.602000000001212, "positions": {"shoulder_pan": -0.010413026374267182, "shoulder_lift": -0.8705641549348301, "elbow_flex": 0.264880540814464, "wrist_flex": 1.6471057051011844, "wrist_roll": -8.861338026575345e-06, "gripper": -0.17217966185643366}, "velocities": {"shoulder_pan": 0.00016306004926798097, "shoulder_lift": 0.0003436917450302333, "elbow_flex": 0.01629847771236288, "wrist_flex": 0.001479370814680668, "wrist_roll": 2.3502415181871676e-07, "gripper": 0.06990314521779874}, "actuator_forces": {"shoulder_pan": -0.0005369313232304052, "shoulder_lift": 0.0014812430052870695, "elbow_flex": -0.0010618722431559036, "wrist_flex": -5.8024050758831436e-05, "wrist_roll": -2.1004568845593707e-06, "gripper": 0.9250104911376411}, "applied_targets": {"shoulder_pan": -0.010413352494365717, "shoulder_lift": -0.8705648423183201, "elbow_flex": 0.26484794385903926, "wrist_flex": 1.6471027463595551, "wrist_roll": -8.861808074878982e-06, "gripper": -0.17153}, "tcp": {"position_m": [0.1827223870401749, 0.0014872152446867375, 0.15021105270784033], "quaternion_wxyz": [0.8672689295469902, 0.018526149582081625, 0.4974371467743306, -0.007594118322265129], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9782, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 171, "teleop_active": true, "observed_at": 1792583579.1708646, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1798254277595007, 0.0006761307142602032, 0.15499753844611242], "quaternion_wxyz": [0.9805393862967602, 0.0054973899350648095, -0.1952636972423304, -0.019605590119427613], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.71479125483326}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.638553087988981}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.508703750692045}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.4195433427747408}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.0382017905087455}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.516819385512713}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.829450364622711}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.94052385169852}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.753944279414379}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.865017766490193}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 15.275067596201568}], "left_finger_force_n": 29.836612612310486, "right_finger_force_n": 42.66400385842737, "bilateral_contact": true, "supported": false, "lift_m": 0.05487241540584556}, "simulation_time": 13.702000000001245, "positions": {"shoulder_pan": -0.010413061787453869, "shoulder_lift": -0.8703615090562252, "elbow_flex": 0.26571408916751776, "wrist_flex": 1.6472265835077489, "wrist_roll": -8.917984841692753e-06, "gripper": -0.1733665609587784}, "velocities": {"shoulder_pan": -1.8906201631063443e-06, "shoulder_lift": 0.0032073166755237897, "elbow_flex": 0.0057423455427281994, "wrist_flex": 0.002048358428251194, "wrist_roll": -1.4830486806253382e-06, "gripper": -0.16400902142117046}, "actuator_forces": {"shoulder_pan": 6.742664806047571e-05, "shoulder_lift": -0.09421556216693716, "elbow_flex": -0.5338282316988625, "wrist_flex": -0.04586506381883737, "wrist_roll": 1.3845308148853833e-05, "gripper": -0.8729628490624748}, "applied_targets": {"shoulder_pan": -0.010412995491268924, "shoulder_lift": -0.8704518156733578, "elbow_flex": 0.26519833980999935, "wrist_flex": 1.6471825533250752, "wrist_roll": -8.904776897508651e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18266039682703686, 0.0014865277565199583, 0.1500247915536152], "quaternion_wxyz": [0.8669775790345539, 0.018516506360006874, 0.49794490923586204, -0.007608141014214544], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9783, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 172, "teleop_active": true, "observed_at": 1792583579.3102188, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1813701762785983, -0.0010715846164252442, 0.15473402679393594], "quaternion_wxyz": [0.9814416416026598, 0.004432093657543648, -0.19003253117951371, -0.02530410574580459], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.603301672409172}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.553056661248663}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.381864753018778}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.12088769633351}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.809838775809799}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.071125165949908}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.7600762454261965}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 14.486094752521911}], "left_finger_force_n": 19.538223086676613, "right_finger_force_n": 40.24802263604133, "bilateral_contact": true, "supported": false, "lift_m": 0.054608903753669086}, "simulation_time": 13.802000000001279, "positions": {"shoulder_pan": 0.0014458622156402012, "shoulder_lift": -0.8680088838146872, "elbow_flex": 0.2667547497992577, "wrist_flex": 1.6451108423931402, "wrist_roll": -7.782319979539052e-06, "gripper": -0.14681111817624584}, "velocities": {"shoulder_pan": -0.36970488679988533, "shoulder_lift": -0.01447162328255841, "elbow_flex": -0.018727074345115675, "wrist_flex": -0.01946080520630705, "wrist_roll": 4.672013572109792e-05, "gripper": -0.31883258136886233}, "actuator_forces": {"shoulder_pan": 1.3993428570808544, "shoulder_lift": 0.461398356594259, "elbow_flex": -0.07172326907112847, "wrist_flex": -0.3757225948463656, "wrist_roll": -0.001310850820737548, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.002342736079296656, "shoulder_lift": -0.8676233886956859, "elbow_flex": 0.26663972052755813, "wrist_flex": 1.644758409396197, "wrist_roll": -8.947582595798279e-06, "gripper": -0.15388396578134966}, "tcp": {"position_m": [0.18297433473598018, -0.0003261765818850336, 0.1497077819232835], "quaternion_wxyz": [0.8665625363414629, 0.021644450308701182, 0.4984272401863861, -0.01308337190738093], "frame": "world"}, "contact_count": 8, "warning_count": 0}
{"cursor": 9784, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 6951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 173, "teleop_active": true, "observed_at": 1792583579.3857439, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18124133159119885, -0.0011485183488246862, 0.15426763242145863], "quaternion_wxyz": [0.9809068486748199, 0.004323393371700535, -0.19274002016379038, -0.02558020953490214], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.883624582086585}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.828084546262901}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.34992050599889174}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.33129937716649827}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.0364628906350735}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 0.4399727567850869}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.8240480942939055}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.146990044136528}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.7690413850436295}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.075520344028118}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 14.159185409097814}], "left_finger_force_n": 14.869364658935037, "right_finger_force_n": 31.974785276599995, "bilateral_contact": true, "supported": false, "lift_m": 0.05414250938119178}, "simulation_time": 13.902000000001312, "positions": {"shoulder_pan": 0.0023278292527178154, "shoulder_lift": -0.8673372600489158, "elbow_flex": 0.26743918731658406, "wrist_flex": 1.644914288325637, "wrist_roll": -8.813849006095328e-06, "gripper": -0.145945201567401}, "velocities": {"shoulder_pan": -0.00145313190734967, "shoulder_lift": -0.0007319734987867923, "elbow_flex": -0.00037521177502574635, "wrist_flex": -0.0002646221632672308, "wrist_roll": 7.79343281207164e-07, "gripper": 0.016791859199822547}, "actuator_forces": {"shoulder_pan": -0.010179135214946733, "shoulder_lift": -0.14192304823313862, "elbow_flex": -0.35023954900452736, "wrist_flex": -0.08510517175568566, "wrist_roll": 5.5355113954293905e-05, "gripper": -1.0908067821576992}, "applied_targets": {"shoulder_pan": 0.0023159208659997623, "shoulder_lift": -0.8674798989135563, "elbow_flex": 0.2670874702774887, "wrist_flex": 1.6448288412521834, "wrist_roll": -8.75748655153834e-06, "gripper": -0.14700195437513291}, "tcp": {"position_m": [0.18298924160456734, -0.00034717098452860995, 0.14953412755472562], "quaternion_wxyz": [0.8662980243339471, 0.0216752256745307, 0.4988835520329175, -0.01315747460864302], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9785, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 175, "teleop_active": true, "observed_at": 1792583579.5559604, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18066183913448405, -0.0023597912301474983, 0.15358102783928113], "quaternion_wxyz": [0.9797203189828296, 0.003327108787378146, -0.19807003677989693, -0.0300879951028593], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.17315484852024}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.10212855850318}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.2032646836378733}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.107499315942709}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 8.671527602975228}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.864598601030415}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.407799686850373}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.787187286696411}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.337455431104905}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.716843030950941}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 12.345268065719955}], "left_finger_force_n": 36.12217361060964, "right_finger_force_n": 42.594553501322586, "bilateral_contact": true, "supported": false, "lift_m": 0.05345590479901427}, "simulation_time": 14.002000000001345, "positions": {"shoulder_pan": 0.011143015227389134, "shoulder_lift": -0.8654290686917546, "elbow_flex": 0.2689036130437646, "wrist_flex": 1.6436978581960875, "wrist_roll": -8.69239029933558e-06, "gripper": -0.17017165441702392}, "velocities": {"shoulder_pan": -0.019754129798896066, "shoulder_lift": -0.005415263852497478, "elbow_flex": 0.012782858541761907, "wrist_flex": 0.0006967294752424295, "wrist_roll": -5.10107848637892e-06, "gripper": -0.10239864962674397}, "actuator_forces": {"shoulder_pan": 0.06525449866328081, "shoulder_lift": 0.02094778452033097, "elbow_flex": 0.008570831124188771, "wrist_flex": -0.0006036969380147639, "wrist_roll": 1.385206203438627e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.011182523486986926, "shoulder_lift": -0.8654182381640496, "elbow_flex": 0.2688780473266811, "wrist_flex": 1.643696464737137, "wrist_roll": -8.682188142362822e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1831275722144851, -0.001624806369727768, 0.149143728415223], "quaternion_wxyz": [0.8656975333474213, 0.023875135150790008, 0.4997082996671587, -0.017010994135521287], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9786, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 176, "teleop_active": true, "observed_at": 1792583579.8336556, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18049041276479474, -0.004355051031437356, 0.1543064493075778], "quaternion_wxyz": [0.979664873378281, 0.002142875321656105, -0.19719100653979138, -0.036984468279233754], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.560652612342557}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.458540141154122}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.3769642948793732}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2653711150568199}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.883408246481029}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.904201037588464}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.068671424240986}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.978231793303415}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.967539494270322}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.877099863332755}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 11.970201484996188}], "left_finger_force_n": 29.449137447502366, "right_finger_force_n": 39.861744060143664, "bilateral_contact": true, "supported": false, "lift_m": 0.05418132626731095}, "simulation_time": 14.102000000001379, "positions": {"shoulder_pan": 0.02498518977972999, "shoulder_lift": -0.86903508426589, "elbow_flex": 0.2662535780788381, "wrist_flex": 1.644805258619463, "wrist_roll": -9.925746417801694e-06, "gripper": -0.1726388629870489}, "velocities": {"shoulder_pan": 0.35712214989106816, "shoulder_lift": 0.015136170304340668, "elbow_flex": 0.008966547978018498, "wrist_flex": -0.016427730106454343, "wrist_roll": 9.522434814551736e-05, "gripper": 0.00012847652500135083}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": 1.133429057205376, "elbow_flex": 0.6115015647848168, "wrist_flex": -0.35509475198773544, "wrist_roll": 0.0012483303096447566, "gripper": -1.8878519654582817}, "applied_targets": {"shoulder_pan": 0.021719377413627325, "shoulder_lift": -0.8680348366280661, "elbow_flex": 0.2667579792332877, "wrist_flex": 1.644474072252023, "wrist_roll": -8.724089864446481e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18297387911379395, -0.0035102453436683077, 0.14995520078524577], "quaternion_wxyz": [0.8668518893134229, 0.02714960952806806, 0.4973110120909826, -0.022637534080915813], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9787, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 177, "teleop_active": true, "observed_at": 1792583579.9097602, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1806836169606967, -0.00469998653825292, 0.15376006004450352], "quaternion_wxyz": [0.9804729637254624, 0.0020344622411627355, -0.1929054496147909, -0.03815908641089284], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.677921763586362}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.6123852882055685}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.28700399700581}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2200086637410683}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.567355561153049}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.54465271726922}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.929926228767818}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.108821333308414}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.8650190713795345}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.043914175920127}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 11.245570314582759}], "left_finger_force_n": 28.909327990961078, "right_finger_force_n": 39.19325112395865, "bilateral_contact": true, "supported": false, "lift_m": 0.05363493700423666}, "simulation_time": 14.202000000001412, "positions": {"shoulder_pan": 0.027836469814612432, "shoulder_lift": -0.8669663466276187, "elbow_flex": 0.2676583706372934, "wrist_flex": 1.643587939502549, "wrist_roll": -8.042911207945737e-06, "gripper": -0.1726672328617868}, "velocities": {"shoulder_pan": -0.009672331594695063, "shoulder_lift": -0.012876907824901453, "elbow_flex": -0.010605430398717131, "wrist_flex": -0.0014139896284934405, "wrist_roll": -2.8047331568969537e-05, "gripper": -0.0003207948887702753}, "actuator_forces": {"shoulder_pan": 1.1952353286844328, "shoulder_lift": 0.11715730905223154, "elbow_flex": -0.29482348085912236, "wrist_flex": -0.2566647136868596, "wrist_roll": -0.0005352724749051341, "gripper": -1.8592017538754249}, "applied_targets": {"shoulder_pan": 0.028855574079979927, "shoulder_lift": -0.8668810446202859, "elbow_flex": 0.26734827256710353, "wrist_flex": 1.643349301028838, "wrist_roll": -8.556584943233662e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1831192583171184, -0.0040313835666799264, 0.14954244964120933], "quaternion_wxyz": [0.8662315240765048, 0.028039976066658773, 0.49826771787947943, -0.02420718400500155], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9788, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 178, "teleop_active": true, "observed_at": 1792583580.047971, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18078653211213028, -0.006008784628642863, 0.15373789614744882], "quaternion_wxyz": [0.9806663353660481, 0.0012752652866712523, -0.1909815503152754, -0.04263754000113605], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.6224515916300835}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.547980254258555}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1029135328488273}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0390300737130505}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.046129675762692}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.760306981368691}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.563319093022036}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.052723689496168}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.489562871198937}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.978967467673071}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 10.776180897609793}], "left_finger_force_n": 27.1188121095819, "right_finger_force_n": 37.860754019000005, "bilateral_contact": true, "supported": false, "lift_m": 0.05361277310718196}, "simulation_time": 14.302000000001446, "positions": {"shoulder_pan": 0.03677864574333665, "shoulder_lift": -0.8670213790444974, "elbow_flex": 0.26745037094070034, "wrist_flex": 1.6431811518620796, "wrist_roll": -8.41355404283498e-06, "gripper": -0.1705157566022205}, "velocities": {"shoulder_pan": 0.007295172727520758, "shoulder_lift": 0.000503999700485203, "elbow_flex": 0.000729861915709618, "wrist_flex": 0.001110854421573461, "wrist_roll": 3.2156899049104353e-06, "gripper": 0.00749302341209971}, "actuator_forces": {"shoulder_pan": -0.487829004955195, "shoulder_lift": -0.12203169140332193, "elbow_flex": -0.38419789898631507, "wrist_flex": -0.05173495456074306, "wrist_roll": -3.687328470910155e-05, "gripper": -1.7263637794626732}, "applied_targets": {"shoulder_pan": 0.03636091031765479, "shoulder_lift": -0.8671427571053706, "elbow_flex": 0.2670665668581416, "wrist_flex": 1.6431302236922574, "wrist_roll": -8.46291974410903e-06, "gripper": -0.17223599613281665}, "tcp": {"position_m": [0.18314731641283682, -0.005319082871916462, 0.14962383815068492], "quaternion_wxyz": [0.8662957286879499, 0.030257848666184292, 0.49782401750389305, -0.028061016506733236], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9789, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 180, "teleop_active": true, "observed_at": 1792583580.1543052, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18072532400312977, -0.005916054477012104, 0.15354817244569044], "quaternion_wxyz": [0.9807662339178878, 0.0013726709874079094, -0.19052858544986248, -0.04236234539491113], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.774313813909361}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.701685858639549}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.246721741704922}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1744465702849847}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.340657860941359}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.303480770784804}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.850417687937251}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.225480803708774}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.778487147027074}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.153550262798597}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 10.215972788121963}], "left_finger_force_n": 28.54130661626498, "right_finger_force_n": 38.22390868959366, "bilateral_contact": true, "supported": false, "lift_m": 0.053423049405423584}, "simulation_time": 14.402000000001479, "positions": {"shoulder_pan": 0.03654491967931479, "shoulder_lift": -0.8667819525865077, "elbow_flex": 0.2679105656584368, "wrist_flex": 1.6431926571369613, "wrist_roll": -8.477227235156793e-06, "gripper": -0.17272800145533088}, "velocities": {"shoulder_pan": 0.15445112827665053, "shoulder_lift": 0.062333498738014206, "elbow_flex": 0.05409053085840304, "wrist_flex": -0.041786778649097016, "wrist_roll": -3.685770337799392e-05, "gripper": -0.0007580986128440683}, "actuator_forces": {"shoulder_pan": 2.990727120815194, "shoulder_lift": 1.3985489838003105, "elbow_flex": 0.8732096646420473, "wrist_flex": -0.8672740686404268, "wrist_roll": -9.437957805974451e-07, "gripper": -1.7972714054126016}, "applied_targets": {"shoulder_pan": 0.03923193197022443, "shoulder_lift": -0.865506129149004, "elbow_flex": 0.26867895290328575, "wrist_flex": 1.642407373160851, "wrist_roll": -8.403511828399549e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18311852832795783, -0.00524173532652667, 0.14953929068740007], "quaternion_wxyz": [0.8661618348236118, 0.03012741568891819, 0.4980774918639362, -0.027835711189624367], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9790, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 181, "teleop_active": true, "observed_at": 1792583580.289542, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18082861359534233, -0.009366502317395395, 0.15366449193998044], "quaternion_wxyz": [0.9801302060464483, -0.000875195080032405, -0.19080222587014725, -0.05420815281779182], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.7850714063966455}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.6904656407214524}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1971506135047312}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1092492142126726}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.175325722705013}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.077795758321763}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.8641523661420205}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.295330000156853}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.770455058088152}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.201632692102982}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 9.81336882798634}], "left_finger_force_n": 28.035058355862276, "right_finger_force_n": 37.94493894447635, "bilateral_contact": true, "supported": false, "lift_m": 0.053539368899713585}, "simulation_time": 14.502000000001512, "positions": {"shoulder_pan": 0.06003345348377536, "shoulder_lift": -0.8667963974049624, "elbow_flex": 0.2672899308394757, "wrist_flex": 1.6417802425759933, "wrist_roll": -9.081205764310392e-06, "gripper": -0.17271371999857277}, "velocities": {"shoulder_pan": 0.11742123377456484, "shoulder_lift": -0.0029632811702484767, "elbow_flex": 0.005105017166839917, "wrist_flex": -0.0011202304043070582, "wrist_roll": 0.00010709090215132547, "gripper": -0.00030728557507897405}, "actuator_forces": {"shoulder_pan": -3.27600347187834, "shoulder_lift": 0.3919626727409877, "elbow_flex": 0.2252163675555039, "wrist_flex": 0.14118994210502933, "wrist_roll": 0.000908858060157839, "gripper": -1.8127650445999848}, "applied_targets": {"shoulder_pan": 0.057328996943340316, "shoulder_lift": -0.8664601995815937, "elbow_flex": 0.2674499891630837, "wrist_flex": 1.6418970888729603, "wrist_roll": -8.189381956505843e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18320179386362148, -0.00865442247075194, 0.14973059681836587], "quaternion_wxyz": [0.8662474517962384, 0.03598047354129987, 0.4968644642408917, -0.038032380347258705], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9791, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 182, "teleop_active": true, "observed_at": 1792583580.3641994, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18096401932556946, -0.010050573043215487, 0.153258060841218], "quaternion_wxyz": [0.980237441688653, -0.0012803285746470965, -0.18956761867489422, -0.05654234360508495], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.798612837249326}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.73595035432293}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2015792432842365}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1426340430556534}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.196086400316252}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.204243997595207}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.816414133419268}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.281501926406581}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.754353370797965}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.219441163785276}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 9.32595005891245}], "left_finger_force_n": 28.279106875823604, "right_finger_force_n": 37.39766065332154, "bilateral_contact": true, "supported": false, "lift_m": 0.05313293780095116}, "simulation_time": 14.602000000001546, "positions": {"shoulder_pan": 0.06536434589329326, "shoulder_lift": -0.8651293558367484, "elbow_flex": 0.2683565830677687, "wrist_flex": 1.6405948665928938, "wrist_roll": -7.306287161539643e-06, "gripper": -0.17271346592892553}, "velocities": {"shoulder_pan": -0.08621537193090979, "shoulder_lift": -0.01442309405338237, "elbow_flex": -0.012135297929352511, "wrist_flex": -0.009418505319134858, "wrist_roll": -1.921010539814071e-05, "gripper": 0.0001646808450275601}, "actuator_forces": {"shoulder_pan": 1.541004129165259, "shoulder_lift": 0.18441161094676772, "elbow_flex": -0.3036437979698121, "wrist_flex": -0.3168813188758577, "wrist_roll": -0.0008323772397975382, "gripper": -1.8134206313123116}, "applied_targets": {"shoulder_pan": 0.06661547599209242, "shoulder_lift": -0.8649867631133844, "elbow_flex": 0.2680358025764427, "wrist_flex": 1.640298546532555, "wrist_roll": -8.083771992132369e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18330310438728237, -0.009492754661966876, 0.14942285918642215], "quaternion_wxyz": [0.865730449708239, 0.037418194604606006, 0.49746228168520834, -0.040520926211634174], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9792, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 183, "teleop_active": true, "observed_at": 1792583580.435217, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18094665427712103, -0.011691479006963325, 0.1528544673996389], "quaternion_wxyz": [0.9801106954978029, -0.002326120490625865, -0.18844283680139326, -0.06218449157563793], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.798625829651554}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.721783378542516}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.189238483655417}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.117872251305981}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.144997993552442}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.212946358156882}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.830962445472201}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.308472871054388}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.75485787867553}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.232368304257718}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 8.86613246581967}], "left_finger_force_n": 28.18546429486479, "right_finger_force_n": 36.9927939652795, "bilateral_contact": true, "supported": false, "lift_m": 0.05272934435937204}, "simulation_time": 14.70200000000158, "positions": {"shoulder_pan": 0.07668466787947846, "shoulder_lift": -0.8637184408464879, "elbow_flex": 0.2695379790881529, "wrist_flex": 1.6400029275018058, "wrist_roll": -7.873793490297701e-06, "gripper": -0.17271039469839522}, "velocities": {"shoulder_pan": 0.04070305551633877, "shoulder_lift": 0.011015728728046927, "elbow_flex": 0.00874709124467354, "wrist_flex": 1.906296176457678e-05, "wrist_roll": -3.4035701079007323e-06, "gripper": 2.2979173668863614e-05}, "actuator_forces": {"shoulder_pan": -0.622386444293042, "shoulder_lift": -0.11612683818395908, "elbow_flex": -0.38026393115262636, "wrist_flex": -0.10212198224121494, "wrist_roll": -3.706503498757292e-05, "gripper": -1.8163640303935438}, "applied_targets": {"shoulder_pan": 0.07617959354675911, "shoulder_lift": -0.8638205984442839, "elbow_flex": 0.2691681693583261, "wrist_flex": 1.6399010792129236, "wrist_roll": -7.938400858283566e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18324967262223352, -0.011095527613133161, 0.14910464525599593], "quaternion_wxyz": [0.8650214475803277, 0.04019031529004557, 0.49806566086911097, -0.0453125947826487], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9793, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 185, "teleop_active": true, "observed_at": 1792583580.8124912, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18118741869711044, -0.013275885440291162, 0.15347296601200394], "quaternion_wxyz": [0.9793414733645429, -0.0033417308446279095, -0.19058859362577518, -0.06749147622387788], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.599330494891975}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.526495545889812}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.7122869267286414}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.6400834218217946}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.276993122559561}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.201548691528832}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.07018981891642}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.4081538851826165}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.998054271943806}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.336018338210004}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 8.298447770172759}], "left_finger_force_n": 32.95673820342061, "right_finger_force_n": 39.11086408442561, "bilateral_contact": true, "supported": false, "lift_m": 0.053347842971737086}, "simulation_time": 14.802000000001613, "positions": {"shoulder_pan": 0.08796909797241563, "shoulder_lift": -0.8651803832505333, "elbow_flex": 0.2671842705735062, "wrist_flex": 1.6386225854319327, "wrist_roll": -7.677968070801166e-06, "gripper": -0.17060592627518112}, "velocities": {"shoulder_pan": 0.11837947482236316, "shoulder_lift": -0.012935933669377168, "elbow_flex": 0.023148316454318602, "wrist_flex": 0.04473792383971129, "wrist_roll": -4.072188146679483e-05, "gripper": -0.06463209918669004}, "actuator_forces": {"shoulder_pan": 3.2028040509393634, "shoulder_lift": -0.5645000440711101, "elbow_flex": -0.03959138089174985, "wrist_flex": 0.7592325822463408, "wrist_roll": 2.7472857580404866e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.09080664907367894, "shoulder_lift": -0.8656987985728392, "elbow_flex": 0.2671234928551893, "wrist_flex": 1.6393011156416484, "wrist_roll": -7.5965243078675525e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18342419685922087, -0.012729006725872502, 0.14980824167539702], "quaternion_wxyz": [0.8660686693707792, 0.04289288467510524, 0.4955527417668559, -0.050127243151078776], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9794, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 186, "teleop_active": true, "observed_at": 1792583580.8855698, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1810569285794953, -0.01685568832801504, 0.15306658807570997], "quaternion_wxyz": [0.9784206926707006, -0.005729647397339955, -0.1905297698726287, -0.07974036673336811], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.76612748560827}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.659226528549938}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.173287210797086}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0758068304701232}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.097064208366186}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.340385232853517}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.888386916033375}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.338038083559336}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.7825124819197455}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.2321636494457096}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 8.014866420947312}], "left_finger_force_n": 28.11189749664512, "right_finger_force_n": 36.25596755190548, "bilateral_contact": true, "supported": false, "lift_m": 0.052941465035443114}, "simulation_time": 14.902000000001646, "positions": {"shoulder_pan": 0.1125785487079888, "shoulder_lift": -0.863126447210508, "elbow_flex": 0.26833904697261723, "wrist_flex": 1.6368348647780533, "wrist_roll": -8.905188792898e-06, "gripper": -0.17271884444617816}, "velocities": {"shoulder_pan": 0.4926510442017641, "shoulder_lift": -0.008291060654375959, "elbow_flex": 0.010665876254428667, "wrist_flex": 0.047667994964876184, "wrist_roll": 8.006802120571223e-05, "gripper": 0.0003958981397235438}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": -0.89885062756548, "elbow_flex": -0.6648070156648487, "wrist_flex": 0.6078939072090179, "wrist_roll": 0.001547785193032291, "gripper": -1.8080547656274177}, "applied_targets": {"shoulder_pan": 0.10946236783179848, "shoulder_lift": -0.8639407129444244, "elbow_flex": 0.26770743725116525, "wrist_flex": 1.6373850368152805, "wrist_roll": -7.433471010340244e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18332663608841343, -0.01620277807218632, 0.14949032831470072], "quaternion_wxyz": [0.8650529359197199, 0.048828448255307855, 0.49562566623090465, -0.060451630836753346], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9795, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 187, "teleop_active": true, "observed_at": 1792583581.0221, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1807519657158057, -0.017742178904574805, 0.1529615355639753], "quaternion_wxyz": [0.9782418006156427, -0.006310934285237185, -0.19009753728108683, -0.08286180034479124], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.7471162176264325}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.688870860252067}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1523326616642962}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1003637875454637}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.099699585965791}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.401264060408557}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.861267394348892}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.313079790318119}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.8035813415627375}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.255393737531963}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 7.719826441164315}], "left_finger_force_n": 28.189647173462607, "right_finger_force_n": 35.95314870492603, "bilateral_contact": true, "supported": false, "lift_m": 0.05283641252370844}, "simulation_time": 15.00200000000168, "positions": {"shoulder_pan": 0.11906827211632372, "shoulder_lift": -0.8639460894161309, "elbow_flex": 0.268583765370554, "wrist_flex": 1.638036253730715, "wrist_roll": -6.290280886239801e-06, "gripper": -0.17269173114320827}, "velocities": {"shoulder_pan": -0.2040899200248526, "shoulder_lift": 0.0015391773059451103, "elbow_flex": -0.00773838755960627, "wrist_flex": -0.005807292810600061, "wrist_roll": 7.526968633579984e-06, "gripper": -0.00012625032202273265}, "actuator_forces": {"shoulder_pan": 1.6234290505413043, "shoulder_lift": -0.09227497020322062, "elbow_flex": -0.3217265064352546, "wrist_flex": 0.027090933079989554, "wrist_roll": -0.0010528670397946388, "gripper": -1.834896326546982}, "applied_targets": {"shoulder_pan": 0.12029266416727119, "shoulder_lift": -0.8640369060262317, "elbow_flex": 0.26825085029688417, "wrist_flex": 1.6380503498973606, "wrist_roll": -7.2435440301605975e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18296602394913375, -0.017313921358503494, 0.14943932604611077], "quaternion_wxyz": [0.8646210778776731, 0.0507953151298712, 0.4957544972041932, -0.0638569193770367], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9796, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 188, "teleop_active": true, "observed_at": 1792583581.0947795, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1807451978375859, -0.01964035270898546, 0.15271965788494618], "quaternion_wxyz": [0.9777426292313857, -0.00752630477054628, -0.18970022929297478, -0.08931141431189628], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.749338307639935}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.672431720023905}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1553702791115568}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.086300609202636}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.085607908406242}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.454095598580882}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.8758542738703845}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.328611122320743}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.799686186441434}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.2524430348917965}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 7.354380322304525}], "left_finger_force_n": 28.203144422965156, "right_finger_force_n": 35.610974939828886, "bilateral_contact": true, "supported": false, "lift_m": 0.052594534844679325}, "simulation_time": 15.102000000001713, "positions": {"shoulder_pan": 0.13228742478060782, "shoulder_lift": -0.8624824050207623, "elbow_flex": 0.26920269113256606, "wrist_flex": 1.6366124328734553, "wrist_roll": -6.974860920253038e-06, "gripper": -0.17269169324547035}, "velocities": {"shoulder_pan": 0.09776308863367264, "shoulder_lift": 0.010665991652710783, "elbow_flex": 0.006197052945556835, "wrist_flex": -0.0056348893626183855, "wrist_roll": -1.968277133154068e-05, "gripper": 6.312380361821392e-05}, "actuator_forces": {"shoulder_pan": -0.6246565190364493, "shoulder_lift": -0.14374283429356183, "elbow_flex": -0.3258908204312547, "wrist_flex": -0.011724901104116725, "wrist_roll": -4.218869965472334e-05, "gripper": -1.8350922669366412}, "applied_targets": {"shoulder_pan": 0.1318273315046654, "shoulder_lift": -0.8626123439034823, "elbow_flex": 0.2688809275634026, "wrist_flex": 1.6365924323471996, "wrist_roll": -7.0671699535753366e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18294674398278302, -0.019158746115168174, 0.1492700651971075], "quaternion_wxyz": [0.8640484987855731, 0.053935448732020705, 0.49568926282569403, -0.0693059437262985], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9797, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 190, "teleop_active": true, "observed_at": 1792583581.2652962, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1802317501365417, -0.021155620090675016, 0.15226121696307518], "quaternion_wxyz": [0.9775337969545642, -0.008484403393255258, -0.1881193573111945, -0.09469317882232074], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.761285348104594}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.692602031436248}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1548156418831093}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0932907407198638}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.089543071447972}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.519918808473197}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.857427679231233}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.317857036847727}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.789403898290338}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.2498332559068315}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 7.0254762935174435}], "left_finger_force_n": 28.311455642064985, "right_finger_force_n": 35.23999816379357, "bilateral_contact": true, "supported": false, "lift_m": 0.052136093922808324}, "simulation_time": 15.202000000001746, "positions": {"shoulder_pan": 0.14351844400215696, "shoulder_lift": -0.862480977063921, "elbow_flex": 0.2706158035072275, "wrist_flex": 1.638181087399793, "wrist_roll": -6.775170273909257e-06, "gripper": -0.1726880822352187}, "velocities": {"shoulder_pan": 0.11826796165141193, "shoulder_lift": -0.0008043874884994913, "elbow_flex": -0.04129789494696203, "wrist_flex": -0.07303679608812248, "wrist_roll": -4.2222100739410916e-05, "gripper": 2.7265063481103936e-05}, "actuator_forces": {"shoulder_pan": 3.198023572948955, "shoulder_lift": -0.16371952858037275, "elbow_flex": -1.2480151119124798, "wrist_flex": -1.4289597939045962, "wrist_roll": 2.3257608273785993e-06, "gripper": -1.838729446199551}, "applied_targets": {"shoulder_pan": 0.1463523398470377, "shoulder_lift": -0.8626449808863988, "elbow_flex": 0.26943818881328097, "wrist_flex": 1.6368864078259, "wrist_roll": -6.690726072427404e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18239266326202813, -0.020722416512018647, 0.14886814518684396], "quaternion_wxyz": [0.8628396914914396, 0.05678859931588319, 0.4967792570005636, -0.07411539373615526], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9798, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 191, "teleop_active": true, "observed_at": 1792583581.3388991, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.18025956022401873, -0.025201917448159333, 0.1530538956638983], "quaternion_wxyz": [0.9754431056117646, -0.011287247706819681, -0.1914948447228053, -0.1082269384130841], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.716482860598416}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.621244168975331}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.123840119463177}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.041495073687601}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.001273475010561}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.458575255551689}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.927127222682386}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.365145892376754}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.83280306639055}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.270821736084919}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 6.749998000536631}], "left_finger_force_n": 27.962910953286777, "right_finger_force_n": 35.14589591807124, "bilateral_contact": true, "supported": false, "lift_m": 0.05292877262363144}, "simulation_time": 15.30200000000178, "positions": {"shoulder_pan": 0.1707796087201071, "shoulder_lift": -0.8630802130171126, "elbow_flex": 0.2678216420765528, "wrist_flex": 1.634815823936352, "wrist_roll": -7.505503479206957e-06, "gripper": -0.17269026096981865}, "velocities": {"shoulder_pan": 0.2133679403450865, "shoulder_lift": -0.012759384794856866, "elbow_flex": 0.009999433553263524, "wrist_flex": 0.031211419297884627, "wrist_roll": 9.764684685759637e-05, "gripper": -0.00028232798136760114}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": 0.0688420147364468, "elbow_flex": 0.2565133649745235, "wrist_flex": 0.5087831074779388, "wrist_roll": 0.0010492943329952764, "gripper": -1.8361209689247744}, "applied_targets": {"shoulder_pan": 0.1680169453693369, "shoulder_lift": -0.8630328723788927, "elbow_flex": 0.2680099434996788, "wrist_flex": 1.6352711696320936, "wrist_roll": -6.4949347982116164e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18243550860695368, -0.024713483099131364, 0.14972450545117463], "quaternion_wxyz": [0.8635119961037749, 0.06329055107732559, 0.49291880350620443, -0.08586263377752981], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9799, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 192, "teleop_active": true, "observed_at": 1792583581.6168866, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17987150801991414, -0.02580828548881127, 0.15237979144272032], "quaternion_wxyz": [0.9756079761673775, -0.011595692141626047, -0.18931211838144923, -0.11052392770925046], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.699742277145345}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.639155217388418}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1192653529064645}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0669635967201714}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.035519498429143}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.574120099697992}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.908035093127777}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.334945184209363}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.848029824298681}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.274939915380265}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 6.424923127451954}], "left_finger_force_n": 28.134766042287534, "right_finger_force_n": 34.79087314446804, "bilateral_contact": true, "supported": false, "lift_m": 0.052254668402453464}, "simulation_time": 15.402000000001813, "positions": {"shoulder_pan": 0.17587513423149323, "shoulder_lift": -0.8621546188093362, "elbow_flex": 0.2699756839400884, "wrist_flex": 1.63625902683758, "wrist_roll": -5.631754821634172e-06, "gripper": -0.1726737711374889}, "velocities": {"shoulder_pan": -0.07600926844800329, "shoulder_lift": -0.021179838131274047, "elbow_flex": -0.008144171187402405, "wrist_flex": -0.001879190950198075, "wrist_roll": -1.9509991229568355e-05, "gripper": -0.00026037565784165325}, "actuator_forces": {"shoulder_pan": 1.5005926155598388, "shoulder_lift": 0.04991847521728232, "elbow_flex": 0.005704695524457293, "wrist_flex": 0.11648381092277305, "wrist_roll": -0.0007891461978045316, "gripper": -1.8527431127842249}, "applied_targets": {"shoulder_pan": 0.17710035688450554, "shoulder_lift": -0.8621341387988415, "elbow_flex": 0.2699315243395612, "wrist_flex": 1.6363534237038242, "wrist_roll": -6.369680412799357e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18198020104037171, -0.02547229459701872, 0.1491053884949151], "quaternion_wxyz": [0.8621103603846897, 0.06483676669486244, 0.49474465459422834, -0.0882589766107322], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9800, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 193, "teleop_active": true, "observed_at": 1792583581.7731593, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1796440002262056, -0.027716194629733053, 0.15222085616294648], "quaternion_wxyz": [0.9748634738226453, -0.012838358256797548, -0.18914218730550264, -0.11705390615013839], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.705659634251816}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.6296059775976826}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1346613129444725}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0676924178029945}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.059015433526682}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.666727743336715}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.9143690871683505}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.335400480538424}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.839045740379837}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.260077133749907}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 6.08064874740766}], "left_finger_force_n": 28.26336251946036, "right_finger_force_n": 34.429541189244176, "bilateral_contact": true, "supported": false, "lift_m": 0.05209573312267962}, "simulation_time": 15.502000000001846, "positions": {"shoulder_pan": 0.1891470867671628, "shoulder_lift": -0.8614511054719909, "elbow_flex": 0.2703855551013671, "wrist_flex": 1.635429445420281, "wrist_roll": -6.134812752750031e-06, "gripper": -0.17267414963719138}, "velocities": {"shoulder_pan": 0.09673131102601149, "shoulder_lift": 0.002837265833257399, "elbow_flex": 0.0003659638746503363, "wrist_flex": -0.004574465304634392, "wrist_roll": -1.9600221131432835e-05, "gripper": 9.07305908098788e-05}, "actuator_forces": {"shoulder_pan": -0.6329489528758074, "shoulder_lift": -0.05103945363885032, "elbow_flex": -0.3740189792873707, "wrist_flex": -0.06275839902582447, "wrist_roll": -4.444162459103437e-05, "gripper": -1.8526376653523187}, "applied_targets": {"shoulder_pan": 0.18867905985025027, "shoulder_lift": -0.861501234313023, "elbow_flex": 0.2700112836715964, "wrist_flex": 1.6353605962696656, "wrist_roll": -6.229611657938551e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18175058264583888, -0.027341810895092036, 0.14901869402359352], "quaternion_wxyz": [0.8614660528828137, 0.06804106464911527, 0.49441204900512653, -0.09382632386740995], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9801, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 195, "teleop_active": true, "observed_at": 1792583581.8826687, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17925703418370043, -0.029117699072594892, 0.15206977293048315], "quaternion_wxyz": [0.9743225104707304, -0.013759246206940754, -0.18874924782858382, -0.12198381113071335], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.732626626927875}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.663938078713923}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.146616047650896}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.085756312339754}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.0904232586089115}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.74676828706975}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.883310622958072}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.312293716568983}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.815281660707799}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.244264754318713}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 5.802113058161899}], "left_finger_force_n": 28.46612861131111, "right_finger_force_n": 34.05726381271546, "bilateral_contact": true, "supported": false, "lift_m": 0.0519446498902163}, "simulation_time": 15.60200000000188, "positions": {"shoulder_pan": 0.19953014726374202, "shoulder_lift": -0.8614876165304424, "elbow_flex": 0.2707913617428288, "wrist_flex": 1.6357938674045942, "wrist_roll": -5.951062600241662e-06, "gripper": -0.17266960230240655}, "velocities": {"shoulder_pan": 0.12666060660928186, "shoulder_lift": 0.09329426559777776, "elbow_flex": 0.0023992660614073165, "wrist_flex": -0.1600616610379537, "wrist_roll": -4.412349882490403e-05, "gripper": 3.1349785270274256e-05}, "actuator_forces": {"shoulder_pan": 3.2039546736446027, "shoulder_lift": 1.9635219946344478, "elbow_flex": -0.21317457388181538, "wrist_flex": -3.0781446890787265, "wrist_roll": 7.404396725614083e-06, "gripper": -1.8572269106187775}, "applied_targets": {"shoulder_pan": 0.20237717983145417, "shoulder_lift": -0.8597077225135135, "elbow_flex": 0.27057591206873355, "wrist_flex": 1.633032477755842, "wrist_roll": -5.862815602593081e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18133553879408834, -0.028790392232742407, 0.14892111748384776], "quaternion_wxyz": [0.8607560378739876, 0.07062385510295302, 0.49442536063379877, -0.09825923425311718], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9802, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 196, "teleop_active": true, "observed_at": 1792583582.019684, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17931296270564603, -0.03281091937984322, 0.1529120168525648], "quaternion_wxyz": [0.9719719251551376, -0.01643377628115966, -0.1924155233751146, -0.13407749278546713], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.668262401631055}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.571071056286432}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1074568367946847}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0247036474483389}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.988536357341156}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.666536122442267}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.973031249936587}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.366538658939862}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.876773190399387}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.270280599402665}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 5.650519353821048}], "left_finger_force_n": 28.026566421943933, "right_finger_force_n": 34.137143052499546, "bilateral_contact": true, "supported": false, "lift_m": 0.05278689381229795}, "simulation_time": 15.702000000001913, "positions": {"shoulder_pan": 0.22398418474844392, "shoulder_lift": -0.8616282455286453, "elbow_flex": 0.26782926177236055, "wrist_flex": 1.6315383110862165, "wrist_roll": -6.796776990699554e-06, "gripper": -0.17266999158980464}, "velocities": {"shoulder_pan": 0.2614755923453906, "shoulder_lift": -0.0032234605733221407, "elbow_flex": 0.017979106751011706, "wrist_flex": 0.014777721441073005, "wrist_roll": 0.00010047334277864841, "gripper": -0.00032228896572227125}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": 0.6096232490997409, "elbow_flex": 0.6376641240995014, "wrist_flex": 0.3868280900569516, "wrist_roll": 0.0011812498126412127, "gripper": -1.8563559523012998}, "applied_targets": {"shoulder_pan": 0.2210101654985547, "shoulder_lift": -0.8610986125248474, "elbow_flex": 0.26835967661444804, "wrist_flex": 1.63187792004022, "wrist_roll": -5.6547920039443845e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18141480039233376, -0.03241361297878781, 0.14980050592559746], "quaternion_wxyz": [0.8613786767423579, 0.07627831127311746, 0.49027849674012036, -0.10879057917463746], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9803, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 197, "teleop_active": true, "observed_at": 1792583582.094326, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17837030865713874, -0.03421045892029377, 0.15242699314776856], "quaternion_wxyz": [0.9715928312352445, -0.0173104074240768, -0.1904412417396644, -0.13942687521331593], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.64775106855924}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.593847088644686}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.092735363463516}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0476977892994757}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.0033838847661825}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.752625799852625}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.950148290164809}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.3385488544045145}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.896761926497252}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.28516249073696}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 5.238950075152267}], "left_finger_force_n": 28.138040994585726, "right_finger_force_n": 33.7095716369558, "bilateral_contact": true, "supported": false, "lift_m": 0.0523018701075017}, "simulation_time": 15.802000000001946, "positions": {"shoulder_pan": 0.2347346169679679, "shoulder_lift": -0.8627919370602252, "elbow_flex": 0.26933833268907525, "wrist_flex": 1.6351919368624672, "wrist_roll": -4.26896500911631e-06, "gripper": -0.17265643775294182}, "velocities": {"shoulder_pan": -0.48656188952175605, "shoulder_lift": 0.0002802434931110584, "elbow_flex": -0.000802898658160682, "wrist_flex": 0.03714323217677971, "wrist_roll": 9.061558540354417e-05, "gripper": -0.00046324537993958786}, "actuator_forces": {"shoulder_pan": 0.7445348916259036, "shoulder_lift": -0.5110619242501571, "elbow_flex": -0.23645314217958457, "wrist_flex": 0.43237417376008125, "wrist_roll": -0.001430156933238432, "gripper": -1.8698347153075758}, "applied_targets": {"shoulder_pan": 0.23496130356248773, "shoulder_lift": -0.863256038196143, "elbow_flex": 0.2690859610245734, "wrist_flex": 1.635585473850122, "wrist_roll": -5.511232652278563e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.18038126512150673, -0.03400693653266573, 0.14938660657081776], "quaternion_wxyz": [0.8597089805006488, 0.07945720712906292, 0.4915219287842336, -0.11398778270503541], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9804, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 7951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 198, "teleop_active": true, "observed_at": 1792583582.1648693, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17817538476865907, -0.03614022072799463, 0.15229013690802554], "quaternion_wxyz": [0.9706139264304375, -0.01857989097784768, -0.19044758347607443, -0.14592159339407118], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.659548451348994}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.584028046032334}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1143143555536097}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0492024582922146}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.0366390240050745}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.825399043633005}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.9561938720365415}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.337892202517275}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.881398656007083}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.263096986487818}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 4.991378431527893}], "left_finger_force_n": 28.269131378865232, "right_finger_force_n": 33.42996014857661, "bilateral_contact": true, "supported": false, "lift_m": 0.05216501386775868}, "simulation_time": 15.90200000000198, "positions": {"shoulder_pan": 0.24877348862483395, "shoulder_lift": -0.8615296208986584, "elbow_flex": 0.2697434687366234, "wrist_flex": 1.6332707527257202, "wrist_roll": -5.120894887189842e-06, "gripper": -0.1726605581502713}, "velocities": {"shoulder_pan": 0.171994542600908, "shoulder_lift": 0.010645697755161285, "elbow_flex": -0.001022808143270249, "wrist_flex": -0.0020386716124663595, "wrist_roll": -4.804669951642053e-05, "gripper": 0.00010827939816783698}, "actuator_forces": {"shoulder_pan": -0.3680143995480023, "shoulder_lift": -0.17070674884041637, "elbow_flex": -0.36070340303916737, "wrist_flex": 0.05746019848470496, "wrist_roll": -0.00010136176871230421, "gripper": -1.8662240589411567}, "applied_targets": {"shoulder_pan": 0.24860877225766567, "shoulder_lift": -0.861686237079154, "elbow_flex": 0.2693806106419314, "wrist_flex": 1.633313755067728, "wrist_roll": -5.303781771752548e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1802049553870284, -0.03587276776878824, 0.14930496749987407], "quaternion_wxyz": [0.8590150495935535, 0.08257300203565097, 0.49092220820899707, -0.11945806541965683], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9805, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 200, "teleop_active": true, "observed_at": 1792583582.5433874, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17862875359624864, -0.037374584050429725, 0.15229986936529838], "quaternion_wxyz": [0.9700141777475, -0.019342844124732948, -0.19079858069588498, -0.14931259476160927], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.83526940532821}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.77590321719694}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1559008741947316}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1274377837932539}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.417053467707079}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.5076304726888314}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.6737456115977745}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.220518270616723}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.614949490900261}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.1617221499192105}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 4.8562696212021015}], "left_finger_force_n": 24.819195220909048, "right_finger_force_n": 30.52720514423607, "bilateral_contact": true, "supported": false, "lift_m": 0.052174746325031524}, "simulation_time": 16.00200000000201, "positions": {"shoulder_pan": 0.25628782293235186, "shoulder_lift": -0.8611109054639153, "elbow_flex": 0.26971676836815245, "wrist_flex": 1.6324158549920675, "wrist_roll": -5.078791390607075e-06, "gripper": -0.1546545326021146}, "velocities": {"shoulder_pan": 0.1445610645279453, "shoulder_lift": 0.005248858652213624, "elbow_flex": -6.689199309765623e-05, "wrist_flex": -0.025497638979327046, "wrist_roll": -4.289598739555974e-05, "gripper": -0.061902318123523065}, "actuator_forces": {"shoulder_pan": 3.163674357174301, "shoulder_lift": 0.047641455369785035, "elbow_flex": -0.3762312115255213, "wrist_flex": -0.5706324050179319, "wrist_roll": 1.1664610754900419e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.25911449856646795, "shoulder_lift": -0.8610714570884704, "elbow_flex": 0.2693398104033509, "wrist_flex": 1.6318925098623462, "wrist_roll": -4.99299941581604e-06, "gripper": -0.15917796906253323}, "tcp": {"position_m": [0.18005521888090528, -0.036974722800604584, 0.14932005566400774], "quaternion_wxyz": [0.8586577370922993, 0.08441024838019179, 0.4904307979737709, -0.1227168810666888], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9806, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 201, "teleop_active": true, "observed_at": 1792583582.619284, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17692199964295605, -0.041754304828598966, 0.15215915737218766], "quaternion_wxyz": [0.9663338725377217, -0.023483092865035502, -0.1964551774686741, -0.1644772153870957], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.503597187006313}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.528487925581613}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.4218157841804009}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.4017524256167295}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.106388046584247}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.2048999185331875}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.6049583634010895}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.607174089696391}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.882781856735409}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.907433580479031}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.628118324868614}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 4.138749343137329}], "left_finger_force_n": 31.16694128750249, "right_finger_force_n": 36.76921555831787, "bilateral_contact": true, "supported": false, "lift_m": 0.0520340343319208}, "simulation_time": 16.102000000001954, "positions": {"shoulder_pan": 0.2887509632328002, "shoulder_lift": -0.8609642583607221, "elbow_flex": 0.26972016469523336, "wrist_flex": 1.6317730885916721, "wrist_roll": -6.5726783819400855e-06, "gripper": -0.17257810528051626}, "velocities": {"shoulder_pan": 0.7502015176328685, "shoulder_lift": -0.0008866568848167944, "elbow_flex": 0.0001677839379157919, "wrist_flex": -0.004347425774819034, "wrist_roll": 3.538343968637779e-05, "gripper": 0.008252817231764409}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": -0.1411288744822059, "elbow_flex": -0.37210262586376075, "wrist_flex": -0.030338606779196198, "wrist_roll": 0.0019089699973394662, "gripper": -1.9516895253287316}, "applied_targets": {"shoulder_pan": 0.28641971581167547, "shoulder_lift": -0.861106211077933, "elbow_flex": 0.26934754135983524, "wrist_flex": 1.6317363751913687, "wrist_roll": -4.811771441269843e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1789286246461264, -0.04139818490793522, 0.14935161841756395], "quaternion_wxyz": [0.8567648402426762, 0.09203443092920251, 0.48882684933867604, -0.13613222767993757], "frame": "world"}, "contact_count": 12, "warning_count": 0}
{"cursor": 9807, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 202, "teleop_active": true, "observed_at": 1792583582.755014, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17670620222047373, -0.042990091794414195, 0.1522071287617716], "quaternion_wxyz": [0.9655838760459295, -0.02464121161049709, -0.1973843305377048, -0.1675709254872946], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.585413758379416}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.524379788845772}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.603733151548769}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.5188034771657786}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.408814395702014}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.551143216621492}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.537246989145141}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.5115348286229136}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.9648198957760865}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.567393596762119}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.904372008648594}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 3.8464987086367812}], "left_finger_force_n": 32.19228778826324, "right_finger_force_n": 36.33186602759164, "bilateral_contact": true, "supported": false, "lift_m": 0.05208200572150473}, "simulation_time": 16.2020000000019, "positions": {"shoulder_pan": 0.2970501534530354, "shoulder_lift": -0.8606489840789681, "elbow_flex": 0.2693619580292648, "wrist_flex": 1.630756788428377, "wrist_roll": -3.5203825675557393e-06, "gripper": -0.1724574695234248}, "velocities": {"shoulder_pan": -0.2922210061718796, "shoulder_lift": -0.004115420972237591, "elbow_flex": 0.005913468544158282, "wrist_flex": -0.0008161264414373141, "wrist_roll": 2.982867704627687e-05, "gripper": 0.0003716740004646668}, "actuator_forces": {"shoulder_pan": 1.4988697111211309, "shoulder_lift": -0.13706913679880017, "elbow_flex": -0.3992661950080105, "wrist_flex": -0.26702574923319844, "wrist_roll": -0.0012099379987854562, "gripper": -2.069054392427063}, "applied_targets": {"shoulder_pan": 0.29809609461549513, "shoulder_lift": -0.860791294633083, "elbow_flex": 0.2689697863316661, "wrist_flex": 1.6305095836154304, "wrist_roll": -4.601279663229582e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.17866138846907603, -0.04290289108997827, 0.14945749816589826], "quaternion_wxyz": [0.856311459018597, 0.09450736835768994, 0.48788208803124866, -0.14060622553007407], "frame": "world"}, "contact_count": 12, "warning_count": 0}
{"cursor": 9808, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 203, "teleop_active": true, "observed_at": 1792583582.828466, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17625856600094433, -0.045118202551866715, 0.1522005758916763], "quaternion_wxyz": [0.9639052878455072, -0.026072753522738086, -0.19814835537084083, -0.17590917216292115], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.574132497450329}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.459035033178161}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.60366804313086}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.5157753337524278}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.442676376590472}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.622933595463681}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.583079232477502}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.482035178679877}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.027031927042334}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.913039693174118}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.461031981745436}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 3.5858457119663254}], "left_finger_force_n": 32.21822087956593, "right_finger_force_n": 36.05206372508559, "bilateral_contact": true, "supported": false, "lift_m": 0.05207545285140944}, "simulation_time": 16.302000000001843, "positions": {"shoulder_pan": 0.3123845578971443, "shoulder_lift": -0.8601114879544439, "elbow_flex": 0.2694212561895146, "wrist_flex": 1.6294040022646203, "wrist_roll": -4.1949773192523735e-06, "gripper": -0.1724375320854467}, "velocities": {"shoulder_pan": 0.19337924130013673, "shoulder_lift": 0.004106838068548393, "elbow_flex": 0.0004521419103457357, "wrist_flex": -0.004699121801703837, "wrist_roll": -5.7311906005755154e-05, "gripper": 0.00015618893994878626}, "actuator_forces": {"shoulder_pan": -0.28272424125952966, "shoulder_lift": -0.05471499655084244, "elbow_flex": -0.3692101323092061, "wrist_flex": -0.05707666396915556, "wrist_roll": -0.00012274639484929212, "gripper": -2.088893886637919}, "applied_targets": {"shoulder_pan": 0.31231017238400616, "shoulder_lift": -0.8601638883400113, "elbow_flex": 0.26905182222502777, "wrist_flex": 1.629340573249597, "wrist_roll": -4.407815791793266e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.17822375092576875, -0.04496898755854728, 0.14948364454432583], "quaternion_wxyz": [0.8554656056938461, 0.09796257672134247, 0.48686697881171365, -0.14677355340704434], "frame": "world"}, "contact_count": 12, "warning_count": 0}
{"cursor": 9809, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 205, "teleop_active": true, "observed_at": 1792583582.9981992, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17561928754029346, -0.04702892751245584, 0.15195736479310273], "quaternion_wxyz": [0.9627125910626898, -0.026800263140740386, -0.1959225430716541, -0.18460923601295384], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.533439620994731}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.29134143154273}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.02820084356427526}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.0}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.79955994849363}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.951015995352648}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.815032079874875}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.600036940578877}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.471029882269254}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.23125645541229}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.576532710458808}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 4.142742102917742}], "left_finger_force_n": 17.603557839948014, "right_finger_force_n": 26.836630171511846, "bilateral_contact": true, "supported": false, "lift_m": 0.05183224175283588}, "simulation_time": 16.402000000001788, "positions": {"shoulder_pan": 0.3262939114631067, "shoulder_lift": -0.860238312247171, "elbow_flex": 0.27025663933099514, "wrist_flex": 1.6304355260870762, "wrist_roll": -4.053719279583049e-06, "gripper": -0.16547647928355438}, "velocities": {"shoulder_pan": 0.08776972490369081, "shoulder_lift": -0.057947686606011, "elbow_flex": -0.03789657941960933, "wrist_flex": 0.02212408221739704, "wrist_roll": -3.408222806954256e-05, "gripper": 0.11086399206441146}, "actuator_forces": {"shoulder_pan": 3.1083331103242813, "shoulder_lift": -1.4704872831101738, "elbow_flex": -1.3296093186334588, "wrist_flex": 0.346691416638123, "wrist_roll": -2.103150845454531e-05, "gripper": 1.077993582431617}, "applied_targets": {"shoulder_pan": 0.32902620593446763, "shoulder_lift": -0.8615951448947904, "elbow_flex": 0.26900216929257514, "wrist_flex": 1.6307384242124485, "wrist_roll": -3.985554823445144e-06, "gripper": -0.1646479885937832}, "tcp": {"position_m": [0.17739044360118988, -0.046870306597684104, 0.14924482566836322], "quaternion_wxyz": [0.8539424265109425, 0.10151913985651707, 0.4869729355504, -0.15275325361124756], "frame": "world"}, "contact_count": 12, "warning_count": 0}
{"cursor": 9810, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 206, "teleop_active": true, "observed_at": 1792583583.0723546, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17396932146118568, -0.05103283737929545, 0.15174645629545427], "quaternion_wxyz": [0.9593426004075989, -0.029854335617472742, -0.19684958210880638, -0.20005183256249634], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.731896649927043}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.42240602997041}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.5582524055980005}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.1272341440319305}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 9.176766526888283}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 8.501098082518283}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.389789980102028}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.0624115519961626}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.974909481135185}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 10.668390763688116}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 3.5396605805252097}], "left_finger_force_n": 39.51765383893395, "right_finger_force_n": 37.6351623574467, "bilateral_contact": true, "supported": false, "lift_m": 0.05162133325518742}, "simulation_time": 16.502000000001733, "positions": {"shoulder_pan": 0.3562780733366196, "shoulder_lift": -0.8604752122452404, "elbow_flex": 0.2710455536838859, "wrist_flex": 1.6311918532204914, "wrist_roll": -5.640735975210298e-06, "gripper": -0.16785196467894958}, "velocities": {"shoulder_pan": 0.8074106431564547, "shoulder_lift": 0.011604255005350353, "elbow_flex": -0.005412240126680713, "wrist_flex": 0.006419306563213491, "wrist_roll": 3.114316235913392e-05, "gripper": -0.4559213171168523}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": -0.48349991477607546, "elbow_flex": -0.9297426865841203, "wrist_flex": -0.1994609742771445, "wrist_roll": 0.0020206083975804474, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.3539662434441307, "shoulder_lift": -0.8609159110781286, "elbow_flex": 0.27017437022609764, "wrist_flex": 1.6310067882056158, "wrist_roll": -3.776391813519682e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.17583819708758147, -0.05074716170763552, 0.14909798646392797], "quaternion_wxyz": [0.8513952324463758, 0.10853969450874928, 0.4859602798440506, -0.1648875353003394], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9811, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 207, "teleop_active": true, "observed_at": 1792583583.1433551, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17330421561116008, -0.052520254906677735, 0.15189584255644914], "quaternion_wxyz": [0.9584437524785928, -0.030908662552768, -0.19602546328180256, -0.20494937340501002], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.36317909752356}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.176263145560516}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2806169676661494}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0895466393097195}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.682569523492869}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.927041173157669}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.105659938119659}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.911474081770426}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.324223251314756}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.139102171153622}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 2.507598838422246}], "left_finger_force_n": 29.51921654671048, "right_finger_force_n": 30.98805828078071, "bilateral_contact": true, "supported": false, "lift_m": 0.051770719516182284}, "simulation_time": 16.602000000001677, "positions": {"shoulder_pan": 0.36685192697736707, "shoulder_lift": -0.8614120020200086, "elbow_flex": 0.27058169871113635, "wrist_flex": 1.6317192190196166, "wrist_roll": -2.389380030350496e-06, "gripper": -0.17252354562896632}, "velocities": {"shoulder_pan": -0.4323778286102822, "shoulder_lift": 0.009386649208301574, "elbow_flex": -0.0005866106295600535, "wrist_flex": -0.004916550208558265, "wrist_roll": 7.593325476568495e-05, "gripper": 0.0008028609225971357}, "actuator_forces": {"shoulder_pan": 0.941935503479101, "shoulder_lift": -0.23811608860808064, "elbow_flex": -0.39158057803985, "wrist_flex": 0.039999958151838655, "wrist_roll": -0.0013497349741640558, "gripper": -2.004011560532348}, "applied_targets": {"shoulder_pan": 0.3672918675272821, "shoulder_lift": -0.8616326406352253, "elbow_flex": 0.2701889670976638, "wrist_flex": 1.6317449451627548, "wrist_roll": -3.5641274096257745e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1750905912744888, -0.052502846179314444, 0.14925189192968552], "quaternion_wxyz": [0.8505119747773393, 0.111644987658138, 0.48487600298184647, -0.1704700537440905], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9812, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 208, "teleop_active": true, "observed_at": 1792583583.4839108, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17297352566787563, -0.05415169860161655, 0.1518653932550346], "quaternion_wxyz": [0.9579613842264303, -0.031464603566638855, -0.19293007730030137, -0.20999511976775864], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.185649270536374}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.010173268557625}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9310891462513575}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8051886161553605}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.71461500191571}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.920485080888513}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.934013955021905}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.753080577712073}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.626505752285242}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.452714769292592}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 2.487874307700124}], "left_finger_force_n": 26.56720038430494, "right_finger_force_n": 29.254189362011935, "bilateral_contact": true, "supported": false, "lift_m": 0.051740270214767736}, "simulation_time": 16.70200000000162, "positions": {"shoulder_pan": 0.37860121227903654, "shoulder_lift": -0.8607635150430323, "elbow_flex": 0.2707207865680076, "wrist_flex": 1.6305541238522314, "wrist_roll": -3.278757649675345e-06, "gripper": -0.16811224467164154}, "velocities": {"shoulder_pan": 0.07749351067995479, "shoulder_lift": 0.006183467272854488, "elbow_flex": -0.00032428036145174015, "wrist_flex": -0.005347172481248612, "wrist_roll": -1.3345451858944091e-05, "gripper": 0.015210342208041936}, "actuator_forces": {"shoulder_pan": -0.6281122463455517, "shoulder_lift": -0.08369642538025346, "elbow_flex": -0.3914162867664004, "wrist_flex": -0.04219824686174434, "wrist_roll": -3.5492670267363996e-05, "gripper": -1.846424200112267}, "applied_targets": {"shoulder_pan": 0.37812140149746926, "shoulder_lift": -0.860839836486867, "elbow_flex": 0.27032850871548436, "wrist_flex": 1.6305045145521566, "wrist_roll": -3.3560496253984808e-06, "gripper": -0.1699419922656333}, "tcp": {"position_m": [0.17468426039835638, -0.05402728642880429, 0.14923657132397433], "quaternion_wxyz": [0.8496764028269841, 0.11421687611156552, 0.4841116604057427, -0.1750440400285211], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9813, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 210, "teleop_active": true, "observed_at": 1792583583.593601, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17249045013948475, -0.05592185603587331, 0.15184893746332434], "quaternion_wxyz": [0.956987271655607, -0.03245112853697065, -0.19138692497928608, -0.2156231228157317], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.875613222821091}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.727247068496147}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2851039590005509}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1940328680512493}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.316829594039263}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.9130993035446595}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.602601824259546}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.444459831542964}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.309280353398185}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.16233889409771}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 2.533790122859617}], "left_finger_force_n": 29.31192601595296, "right_finger_force_n": 30.05247102615802, "bilateral_contact": true, "supported": false, "lift_m": 0.051723814423057485}, "simulation_time": 16.802000000001566, "positions": {"shoulder_pan": 0.3914247258424311, "shoulder_lift": -0.8608816130908319, "elbow_flex": 0.2707955470141723, "wrist_flex": 1.6305701977890283, "wrist_roll": -3.0461469816230635e-06, "gripper": -0.15934803215342802}, "velocities": {"shoulder_pan": 0.09814221404836256, "shoulder_lift": -0.030281359293192898, "elbow_flex": -0.008936581735657685, "wrist_flex": 0.0184948950166988, "wrist_roll": -3.634501967380649e-05, "gripper": -0.09225479167914324}, "actuator_forces": {"shoulder_pan": 3.1603468122069103, "shoulder_lift": -0.8238158645457361, "elbow_flex": -0.6526466623273564, "wrist_flex": 0.31521630114116306, "wrist_roll": -1.1962937033578678e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.3942101009493635, "shoulder_lift": -0.8616457235721324, "elbow_flex": 0.270159111587553, "wrist_flex": 1.6308489950326854, "wrist_roll": -2.973456942279196e-06, "gripper": -0.16376597718756644}, "tcp": {"position_m": [0.17398009004569867, -0.055758246218928845, 0.14922730643009877], "quaternion_wxyz": [0.8485366107823096, 0.11730960581250723, 0.48337831846572593, -0.180470157597958], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9814, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 211, "teleop_active": true, "observed_at": 1792583583.7366636, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.17086108454950272, -0.05970063104589657, 0.15152290101307045], "quaternion_wxyz": [0.9539919778986127, -0.03510086881498839, -0.19030932787794996, -0.22901876524898113], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.504582591161349}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.332796818285085}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.047216850378289}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9421591859647955}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.778438605337436}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.69888130077497}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.887125762191471}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.707498703654678}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.006213543666687}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.836077354127032}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 1.9432014763327925}], "left_finger_force_n": 27.304075351901925, "right_finger_force_n": 29.38011683997266, "bilateral_contact": true, "supported": false, "lift_m": 0.05139777797280359}, "simulation_time": 16.90200000000151, "positions": {"shoulder_pan": 0.4197176924633118, "shoulder_lift": -0.8597636665059352, "elbow_flex": 0.27194598834608674, "wrist_flex": 1.6298878891514965, "wrist_roll": -4.497210851551105e-06, "gripper": -0.16381893280495224}, "velocities": {"shoulder_pan": 0.6824823685921777, "shoulder_lift": 0.0032949452008725483, "elbow_flex": 0.0008799390519553564, "wrist_flex": 0.009383755876742193, "wrist_roll": 5.177492922285431e-05, "gripper": 0.1156566578840735}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": -0.7062872360093024, "elbow_flex": -0.82959228737991, "wrist_flex": 0.21646918377768998, "wrist_roll": 0.001853994947842753, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.4170275536373807, "shoulder_lift": -0.8604037003751889, "elbow_flex": 0.2711654340018948, "wrist_flex": 1.630075245660214, "wrist_roll": -2.766176428439564e-06, "gripper": -0.16764798859378321}, "tcp": {"position_m": [0.17247094564062213, -0.059426446304821016, 0.14894766120050074], "quaternion_wxyz": [0.8456385629860107, 0.12398260669022527, 0.4823883793471992, -0.1918988939520855], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9815, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 212, "teleop_active": true, "observed_at": 1792583583.8122857, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16992958225110272, -0.060503139026306114, 0.1515324430261705], "quaternion_wxyz": [0.9525813451049155, -0.036516229564274263, -0.19284196720369348, -0.23252380871972722], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.0504546349153046}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.949483851017046}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9467123391553272}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8551209455500594}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.000470236685657}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.28422416182939}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.06932877480871}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.962974306008689}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.6284470265053805}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.528445820703224}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 1.5518561257659544}], "left_finger_force_n": 27.086466169152782, "right_finger_force_n": 28.741052053791957, "bilateral_contact": true, "supported": false, "lift_m": 0.05140731998590364}, "simulation_time": 17.002000000001456, "positions": {"shoulder_pan": 0.42728464447947434, "shoulder_lift": -0.8610632402609392, "elbow_flex": 0.27174177307956243, "wrist_flex": 1.6313114829377717, "wrist_roll": -1.5330945777546603e-06, "gripper": -0.17288829001277012}, "velocities": {"shoulder_pan": -0.2587511799235832, "shoulder_lift": 0.008436027881344586, "elbow_flex": -0.000574074014318514, "wrist_flex": 0.003464625970029521, "wrist_roll": 2.1675011986832925e-05, "gripper": 0.10850546275974902}, "actuator_forces": {"shoulder_pan": 1.5360312739631468, "shoulder_lift": -0.3016646352720045, "elbow_flex": -0.4173521799953619, "wrist_flex": 0.12488258772918925, "wrist_roll": -0.0011437203741993772, "gripper": -1.719295188732417}, "applied_targets": {"shoulder_pan": 0.4283897224549261, "shoulder_lift": -0.8613398702515811, "elbow_flex": 0.27132368969156323, "wrist_flex": 1.6314160731112668, "wrist_roll": -2.5593796845308034e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.17169146750622855, -0.060589927023303805, 0.1490305497015994], "quaternion_wxyz": [0.8447412344830345, 0.12625256094472623, 0.48176533080807876, -0.19589462384240863], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9816, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 213, "teleop_active": true, "observed_at": 1792583583.8854802, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16975165279368315, -0.06274591604663765, 0.15155066265485304], "quaternion_wxyz": [0.9505610712193562, -0.03848281478876215, -0.19472515498493423, -0.23881967436611493], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.5617000519002895}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.475725003962938}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.2081240785837492}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.17359790106035525}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.1913872104500807}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.432351508663054}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.3543982925813225}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.253162680336562}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.159844175040491}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.074694707732244}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 1.9124334405785304}], "left_finger_force_n": 17.042885754620468, "right_finger_force_n": 20.754533296269152, "bilateral_contact": true, "supported": false, "lift_m": 0.05142553961458618}, "simulation_time": 17.1020000000014, "positions": {"shoulder_pan": 0.4419487519971994, "shoulder_lift": -0.8609730457044754, "elbow_flex": 0.27168974896793396, "wrist_flex": 1.6308601422796756, "wrist_roll": -2.2205230479750654e-06, "gripper": -0.15183897726436346}, "velocities": {"shoulder_pan": 0.15683046758427244, "shoulder_lift": -0.0009038800283177801, "elbow_flex": -2.0514725281676948e-05, "wrist_flex": -0.0017275342110392507, "wrist_roll": -4.097654585858436e-05, "gripper": -0.25002619021298567}, "actuator_forces": {"shoulder_pan": -0.4543057238686288, "shoulder_lift": -0.10739205121365103, "elbow_flex": -0.3781368346266163, "wrist_flex": -0.1302722497960076, "wrist_roll": -7.564842490450675e-05, "gripper": 0.7580892708820102}, "applied_targets": {"shoulder_pan": 0.4416979888888509, "shoulder_lift": -0.8610818235040938, "elbow_flex": 0.27131085165177815, "wrist_flex": 1.6307283007949618, "wrist_roll": -2.370601414316017e-06, "gripper": -0.1515899609375}, "tcp": {"position_m": [0.17090321562020477, -0.062451440023667176, 0.1490600974763825], "quaternion_wxyz": [0.8434604902231452, 0.12954756383421084, 0.48071706667030367, -0.20174967645339947], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9817, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 215, "teleop_active": true, "observed_at": 1792583584.0616436, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16873325405743425, -0.06443506958631234, 0.1517781212438999], "quaternion_wxyz": [0.9480900797539887, -0.04074015118478222, -0.19839933207759144, -0.24515942932035137], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.479716254307418}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.393618512403605}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.445712018223085}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.3714224064626546}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.413346744244846}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.979250531264198}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.990067282723098}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.890742836356099}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.415255216542857}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.329984233444426}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 1.135758945625465}], "left_finger_force_n": 32.083066466905805, "right_finger_force_n": 31.761808514691946, "bilateral_contact": true, "supported": false, "lift_m": 0.05165299820363303}, "simulation_time": 17.202000000001345, "positions": {"shoulder_pan": 0.4557175892307589, "shoulder_lift": -0.8614748511865804, "elbow_flex": 0.27065399398073575, "wrist_flex": 1.6299669093048845, "wrist_roll": -2.0287530382324526e-06, "gripper": -0.16593165117993586}, "velocities": {"shoulder_pan": 0.0872197608035208, "shoulder_lift": -0.03841303444052447, "elbow_flex": 0.04306710484015354, "wrist_flex": 0.10974863785012799, "wrist_roll": -3.206291222236026e-05, "gripper": -0.09788971184826903}, "actuator_forces": {"shoulder_pan": 3.1108351835865733, "shoulder_lift": -0.8703336029007005, "elbow_flex": 0.5717933918865583, "wrist_flex": 2.0170890085105384, "wrist_roll": -2.0908551987895317e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.45845165275413613, "shoulder_lift": -0.8622733845424564, "elbow_flex": 0.27113955211870133, "wrist_flex": 1.6317676753850507, "wrist_roll": -1.964627213789412e-06, "gripper": -0.17064798859378322}, "tcp": {"position_m": [0.1702134787027253, -0.06437601067479556, 0.1493971004809741], "quaternion_wxyz": [0.8426884184078848, 0.13264194185080733, 0.47867490475003266, -0.20773223222651613], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9818, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 216, "teleop_active": true, "observed_at": 1792583584.3342993, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16644543277237292, -0.06799304449659868, 0.15136361766062667], "quaternion_wxyz": [0.9450843242656419, -0.042830872940195594, -0.19463144789319375, -0.2590361670530487], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.213267287842281}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.087593783502713}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1591540372527294}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0451599175083992}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.569846201692973}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.074975940009809}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.132110988515628}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.997452654469235}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.402488019093946}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.2780213022266}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.6470507065967821}], "left_finger_force_n": 29.149997167808905, "right_finger_force_n": 29.45712367090219, "bilateral_contact": true, "supported": false, "lift_m": 0.051238494620359815}, "simulation_time": 17.30200000000129, "positions": {"shoulder_pan": 0.4848765223167384, "shoulder_lift": -0.8613567818564788, "elbow_flex": 0.27204186734493463, "wrist_flex": 1.6309963748448773, "wrist_roll": -3.668100387859519e-06, "gripper": -0.17254290120859844}, "velocities": {"shoulder_pan": 0.8310500917363307, "shoulder_lift": 0.0072932247769524495, "elbow_flex": 0.008261025685218559, "wrist_flex": 0.008378183307566572, "wrist_roll": 3.1419983846052253e-05, "gripper": 0.002100569592834815}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": -0.38212610972357197, "elbow_flex": -0.5240155904178891, "wrist_flex": 0.17563336377315864, "wrist_roll": 0.002067283355928799, "gripper": -1.985635349200237}, "applied_targets": {"shoulder_pan": 0.48255425047189626, "shoulder_lift": -0.8617078542827287, "elbow_flex": 0.27153447141733483, "wrist_flex": 1.631148308531559, "wrist_roll": -1.7586425268442154e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1681486441644989, -0.06786382127123985, 0.1490364983394393], "quaternion_wxyz": [0.8390715497295833, 0.1395184987027284, 0.4779416866271957, -0.21923792358550329], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9819, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 217, "teleop_active": true, "observed_at": 1792583584.4758801, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16562842991797072, -0.06948980952069352, 0.1514510606005896], "quaternion_wxyz": [0.9440024724265429, -0.04337891315125084, -0.19221474096986338, -0.26463388917574165], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.329691890445419}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.266135750345904}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1214719518995406}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0657398582788622}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.392953211265512}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.85308320315448}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.195205850862795}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.1240379743988145}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.242675950573783}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.179730112176744}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.573977992792783}], "left_finger_force_n": 29.029075865389718, "right_finger_force_n": 29.315627880804918, "bilateral_contact": true, "supported": false, "lift_m": 0.05132593756032275}, "simulation_time": 17.402000000001234, "positions": {"shoulder_pan": 0.49592866813702324, "shoulder_lift": -0.8617321774636268, "elbow_flex": 0.2716397412745329, "wrist_flex": 1.630847653089924, "wrist_roll": -3.474160931400587e-07, "gripper": -0.17253233030260706}, "velocities": {"shoulder_pan": -0.46210850370293766, "shoulder_lift": -0.00033421594569729967, "elbow_flex": 0.002124226099892889, "wrist_flex": 0.004603316143699107, "wrist_roll": 8.65753307315075e-05, "gripper": -0.00023702335237138532}, "actuator_forces": {"shoulder_pan": 0.7622464282935084, "shoulder_lift": -0.09872247395855993, "elbow_flex": -0.32930407190235655, "wrist_flex": -0.08902970382314379, "wrist_roll": -0.001381847309168621, "gripper": -1.9938838162040327}, "applied_targets": {"shoulder_pan": 0.4961909107240239, "shoulder_lift": -0.8618317382885806, "elbow_flex": 0.27131175673685765, "wrist_flex": 1.630764414492057, "wrist_roll": -1.5466401529598265e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.16723960546079308, -0.06963658187288464, 0.14915982656488522], "quaternion_wxyz": [0.8377743235942636, 0.1426832912085866, 0.476603631755209, -0.2249991985181383], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9820, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 218, "teleop_active": true, "observed_at": 1792583584.5522938, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16464096443316548, -0.07098901850581783, 0.1513489739321245], "quaternion_wxyz": [0.9427333051631144, -0.04405532794500173, -0.1900769406065303, -0.2705250451724398], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.417903560795836}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.336217801996918}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.111252937118679}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0406146881200466}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.2535786370976725}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.689711330467813}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.267035484379018}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.17814699840814}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.177924375303558}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.097023008973801}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.51953294802102}], "left_finger_force_n": 28.849278955596965, "right_finger_force_n": 29.239662815085538, "bilateral_contact": true, "supported": false, "lift_m": 0.05122385089185763}, "simulation_time": 17.50200000000118, "positions": {"shoulder_pan": 0.5088588016857014, "shoulder_lift": -0.8620017676333448, "elbow_flex": 0.2719876188116699, "wrist_flex": 1.6314285884725974, "wrist_roll": -1.2203723212728453e-06, "gripper": -0.17255036934523027}, "velocities": {"shoulder_pan": 0.12747151452569647, "shoulder_lift": 0.0001580018323690315, "elbow_flex": -0.00040587082755668444, "wrist_flex": 0.002797611593757982, "wrist_roll": -2.9582203116644722e-05, "gripper": -0.00015247074918509673}, "actuator_forces": {"shoulder_pan": -0.5535284343641251, "shoulder_lift": -0.1387260465610325, "elbow_flex": -0.3578127115901566, "wrist_flex": -0.04102353133021097, "wrist_roll": -5.2846301394491235e-05, "gripper": -1.9759782980825662}, "applied_targets": {"shoulder_pan": 0.5084837774705475, "shoulder_lift": -0.8621401499883251, "elbow_flex": 0.27162835787473283, "wrist_flex": 1.6313902816538828, "wrist_roll": -1.3339073308250859e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.16631346890332804, -0.07108541804453225, 0.14908353529109428], "quaternion_wxyz": [0.8362756114528728, 0.14555020703068383, 0.47603792077692353, -0.22988287649329603], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9821, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 220, "teleop_active": true, "observed_at": 1792583584.72836, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1634888893865304, -0.07294662553803903, 0.1513299666979596], "quaternion_wxyz": [0.9407709035532881, -0.045284376901942446, -0.1888080897807756, -0.27794052865580415], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.43593496174579}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.36603562804965}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0924315405472074}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0319720224638405}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.171395443207075}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.597449980365887}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.310049318369437}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.233245025191527}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.148841566034884}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.079613444943691}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.473675156291455}], "left_finger_force_n": 28.69521957637945, "right_finger_force_n": 29.245424510830993, "bilateral_contact": true, "supported": false, "lift_m": 0.051204843657692733}, "simulation_time": 17.602000000001123, "positions": {"shoulder_pan": 0.5246965732468714, "shoulder_lift": -0.8621370646243657, "elbow_flex": 0.2721468601207327, "wrist_flex": 1.631562995713952, "wrist_roll": -9.753320143169554e-07, "gripper": -0.17256110556368953}, "velocities": {"shoulder_pan": 0.06312782816599116, "shoulder_lift": 0.0004018935951877053, "elbow_flex": 0.052313848320101865, "wrist_flex": 0.06143244093548253, "wrist_roll": -2.4595695297807662e-05, "gripper": -2.8360049111229826e-05}, "actuator_forces": {"shoulder_pan": 2.929141167037983, "shoulder_lift": -0.053517390393267306, "elbow_flex": 0.7905119685306659, "wrist_flex": 1.130152593893854, "wrist_roll": -4.1338072351953994e-05, "gripper": -1.9652971193309838}, "applied_targets": {"shoulder_pan": 0.5272561124415193, "shoulder_lift": -0.8621905371291273, "elbow_flex": 0.2728345067945689, "wrist_flex": 1.6325721420423198, "wrist_roll": -9.261406237227443e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.1651534806646403, -0.07310655265711186, 0.149088129951039], "quaternion_wxyz": [0.8344295429359111, 0.1493388390492049, 0.4748335731459786, -0.23655512431698558], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9822, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 221, "teleop_active": true, "observed_at": 1792583584.8056324, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16114514374571004, -0.07622374578156665, 0.1506414323312376], "quaternion_wxyz": [0.9380722979120832, -0.04615428155829994, -0.18196811833514265, -0.29116618981837], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.2764290049730285}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.163124877826544}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8008401766720461}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.7430469668669688}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.447862292644446}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.3515741530599756}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.555754564286069}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.437361257121124}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.931953965971983}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.819737848600583}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.7107419066360188}], "left_finger_force_n": 23.78287747204301, "right_finger_force_n": 25.455549542615778, "bilateral_contact": true, "supported": false, "lift_m": 0.05051630929097076}, "simulation_time": 17.702000000001068, "positions": {"shoulder_pan": 0.552661749324361, "shoulder_lift": -0.8623582896451633, "elbow_flex": 0.2748105128532853, "wrist_flex": 1.6347255479555867, "wrist_roll": -2.774168777250481e-06, "gripper": -0.160900462629281}, "velocities": {"shoulder_pan": 0.9266756738700244, "shoulder_lift": 0.004039921035113177, "elbow_flex": -0.00863977396127958, "wrist_flex": -0.03473810903053248, "wrist_roll": 1.6929682930433606e-05, "gripper": 0.2531321578531487}, "actuator_forces": {"shoulder_pan": -3.193578368078306, "shoulder_lift": -0.025462995055022475, "elbow_flex": -0.8667926690893637, "wrist_flex": -0.6314189261395313, "wrist_roll": 0.002205978635272345, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.5506930829077513, "shoulder_lift": -0.8623922860569339, "elbow_flex": 0.2739946099331655, "wrist_flex": 1.6341421782836192, "wrist_roll": -7.417307797357065e-07, "gripper": -0.1653539845312666}, "tcp": {"position_m": [0.16263282372354598, -0.07605185341906746, 0.14836064374264452], "quaternion_wxyz": [0.8298190466489617, 0.15621793956510285, 0.4753079168419648, -0.24714103132420834], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9823, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 222, "teleop_active": true, "observed_at": 1792583584.881306, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.16046577621803024, -0.07690771835976111, 0.1508070929758861], "quaternion_wxyz": [0.935950471606936, -0.04848954744306375, -0.1875289447802196, -0.29407205470281833], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.811511698054172}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.754833633056632}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.7224381869908856}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.6752459942797226}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.5421606184819465}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.007279636814645}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.00982257355704}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.949362278806771}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.073488076608446}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.017354266178706}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.46087631501593473}], "left_finger_force_n": 25.513469767678004, "right_finger_force_n": 26.510903510166898, "bilateral_contact": true, "supported": false, "lift_m": 0.05068196993561924}, "simulation_time": 17.802000000001012, "positions": {"shoulder_pan": 0.5589835263344654, "shoulder_lift": -0.8626670969720114, "elbow_flex": 0.27400872457976577, "wrist_flex": 1.6339873039013346, "wrist_roll": 2.472203174040586e-07, "gripper": -0.17337270089655035}, "velocities": {"shoulder_pan": -0.11396418353742463, "shoulder_lift": 0.006353863295238472, "elbow_flex": 0.007188920395478311, "wrist_flex": 0.0036768587555101985, "wrist_roll": -1.0811979649884674e-05, "gripper": 0.12282659072122931}, "actuator_forces": {"shoulder_pan": 1.51053818241121, "shoulder_lift": -0.12419679858589916, "elbow_flex": -0.4048713554281562, "wrist_flex": -0.06288549459304704, "wrist_roll": -0.0008543952129730394, "gripper": -1.1769008548658633}, "applied_targets": {"shoulder_pan": 0.5601860011963706, "shoulder_lift": -0.8627832956962476, "elbow_flex": 0.27361264406760755, "wrist_flex": 1.6339286266524429, "wrist_roll": -5.410000300426503e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.16212309886590592, -0.0771731427327796, 0.14860799727696478], "quaternion_wxyz": [0.8292502304583452, 0.15798931460224677, 0.4738279294561813, -0.2507399549803778], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9824, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 8951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 223, "teleop_active": true, "observed_at": 1792583585.0269084, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15968370354837866, -0.0788075028597935, 0.15101547135359047], "quaternion_wxyz": [0.9339360447198622, -0.049643565914666565, -0.18687204878737373, -0.3006290373837926], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.458033444491584}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.382445816065778}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1055471047652594}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0404415852689568}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.196443612349368}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.656397300089888}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.302271949145214}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.219753633584399}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.133050948841902}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.058189155217292}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.36997243125074214}], "left_finger_force_n": 28.839308863030833, "right_finger_force_n": 29.08323811803955, "bilateral_contact": true, "supported": false, "lift_m": 0.05089034831332362}, "simulation_time": 17.902000000000957, "positions": {"shoulder_pan": 0.5730302599714194, "shoulder_lift": -0.8622441888257961, "elbow_flex": 0.2733227551167934, "wrist_flex": 1.63207967788478, "wrist_roll": -2.66986871764476e-07, "gripper": -0.1725491377400328}, "velocities": {"shoulder_pan": 0.13323290676099858, "shoulder_lift": -0.0001414293804080551, "elbow_flex": -0.005321509601946012, "wrist_flex": -0.0057273712945469565, "wrist_roll": -3.1638631164118783e-05, "gripper": 3.447189388406653e-05}, "actuator_forces": {"shoulder_pan": -0.5740775512034588, "shoulder_lift": -0.07560874408079599, "elbow_flex": -0.38835057738708656, "wrist_flex": 0.02329003234922311, "wrist_roll": -5.5625411043949e-05, "gripper": -1.9775215571318938}, "applied_targets": {"shoulder_pan": 0.5726424514277002, "shoulder_lift": -0.8623205659143465, "elbow_flex": 0.27292717921502596, "wrist_flex": 1.6320907458165907, "wrist_roll": -3.8705628527844535e-07, "gripper": -0.17453}, "tcp": {"position_m": [0.16133717135080264, -0.07901175329754503, 0.14881663456034322], "quaternion_wxyz": [0.828043902739512, 0.16095019309233022, 0.47186427161512534, -0.25648087580282825], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9825, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 225, "teleop_active": true, "observed_at": 1792583585.3451228, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1587567141159138, -0.08072756178215261, 0.1510976925704904], "quaternion_wxyz": [0.9312203108144722, -0.05191523303310031, -0.1892886569536322, -0.30708849808224187], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.958219008967578}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.902287046025079}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9240552603630309}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.896869735206657}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.1530852375785585}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.531330991948796}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.996993632324719}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.929316821298635}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.4266198218560096}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.3712249489909265}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.5239706789135712}], "left_finger_force_n": 25.3658472800897, "right_finger_force_n": 25.248125903383862, "bilateral_contact": true, "supported": false, "lift_m": 0.050972569530223555}, "simulation_time": 18.0020000000009, "positions": {"shoulder_pan": 0.5876920631467577, "shoulder_lift": -0.864099813993532, "elbow_flex": 0.2731616978445882, "wrist_flex": 1.634344753868915, "wrist_roll": -4.184269899288298e-08, "gripper": -0.15226920649995207}, "velocities": {"shoulder_pan": 0.07620918183051142, "shoulder_lift": -0.038515880991987564, "elbow_flex": 0.013711174307825418, "wrist_flex": 0.07572858386108743, "wrist_roll": -2.830787717104551e-05, "gripper": -0.001154181236522167}, "actuator_forces": {"shoulder_pan": 3.0373545792471077, "shoulder_lift": -1.0892152186781914, "elbow_flex": -0.07378527301483473, "wrist_flex": 1.4697397872462261, "wrist_roll": -3.1377149170532874e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.5903540012993649, "shoulder_lift": -0.8650962220825213, "elbow_flex": 0.27306059780643416, "wrist_flex": 1.6356515160646763, "wrist_roll": 1.4773055347991215e-08, "gripper": -0.15688396578134967}, "tcp": {"position_m": [0.1598712444551857, -0.08062323699431163, 0.1489037575569696], "quaternion_wxyz": [0.8260964983840571, 0.16444663756959366, 0.47071406879967403, -0.2625835946583673], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9826, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 226, "teleop_active": true, "observed_at": 1792583585.486415, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1559388409135595, -0.08374223150121746, 0.15069497884398647], "quaternion_wxyz": [0.9263822993409886, -0.055218058061620785, -0.1902557475439712, -0.3202648155169288], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.650938843440412}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.546450126090496}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8146120390405712}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.74085943989149}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.869441974022172}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.569602386150866}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.557682933485172}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.445898699114859}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.424999769392513}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.321514411308724}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.25788711234517586}], "left_finger_force_n": 26.191904808636007, "right_finger_force_n": 26.00798292564644, "bilateral_contact": true, "supported": false, "lift_m": 0.050569855803719616}, "simulation_time": 18.102000000000846, "positions": {"shoulder_pan": 0.616114054374522, "shoulder_lift": -0.8640677905504106, "elbow_flex": 0.2744566549927236, "wrist_flex": 1.635401992418296, "wrist_roll": -1.6640374252762206e-06, "gripper": -0.16659270237192464}, "velocities": {"shoulder_pan": 0.8082289258772193, "shoulder_lift": 0.009176035351401655, "elbow_flex": 0.003679039408575951, "wrist_flex": -0.0016603436268172048, "wrist_roll": 3.4810918021875654e-05, "gripper": -0.14584077898163145}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": -0.4330025470392229, "elbow_flex": -0.7112629260577137, "wrist_flex": 0.0371341648658472, "wrist_roll": 0.002027899388518057, "gripper": -0.7725165750157998}, "applied_targets": {"shoulder_pan": 0.6136995415140533, "shoulder_lift": -0.8644634291690274, "elbow_flex": 0.27378231324634367, "wrist_flex": 1.6354268444775524, "wrist_roll": 2.1290903965733748e-07, "gripper": -0.16764798859378321}, "tcp": {"position_m": [0.15744527702919398, -0.08370906434936781, 0.14858261579613352], "quaternion_wxyz": [0.8218886487035236, 0.17108550750689036, 0.46947641099269666, -0.27353372328621867], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9827, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 227, "teleop_active": true, "observed_at": 1792583585.5645397, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15581950989552096, -0.08501380556082887, 0.15097054995785433], "quaternion_wxyz": [0.9255274117581808, -0.055402323956871086, -0.18860493062296793, -0.32366305431588505], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.846768957982679}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.802808910992031}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.4210339959512095}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.4025182611776315}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.50578100336892}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.047759917826355}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.745554887893423}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.673231470496434}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.504142502817677}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.46060458485307}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.3691765518214218}], "left_finger_force_n": 27.026671047298827, "right_finger_force_n": 26.752709997882025, "bilateral_contact": true, "supported": false, "lift_m": 0.05084542691758748}, "simulation_time": 18.20200000000079, "positions": {"shoulder_pan": 0.6233283494954013, "shoulder_lift": -0.8648865907312014, "elbow_flex": 0.2737046165839957, "wrist_flex": 1.6354926182346272, "wrist_roll": 1.3493961796928214e-06, "gripper": -0.14697831187961705}, "velocities": {"shoulder_pan": -0.21039832692803778, "shoulder_lift": 0.008724110712965905, "elbow_flex": 0.008487708440678155, "wrist_flex": -0.0003832960721980396, "wrist_roll": 1.2401071943546273e-05, "gripper": -0.38458081693444834}, "actuator_forces": {"shoulder_pan": 1.5739584181595774, "shoulder_lift": -0.17582241921684272, "elbow_flex": -0.38949918560092556, "wrist_flex": -0.0807794445051968, "wrist_roll": -0.0010224392115056433, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.6245054833245889, "shoulder_lift": -0.8650507782806841, "elbow_flex": 0.27332533840907186, "wrist_flex": 1.6354112950348347, "wrist_roll": 4.292836285747624e-07, "gripper": -0.1515899609375}, "tcp": {"position_m": [0.1566728176535234, -0.08480789095581925, 0.1488088658183106], "quaternion_wxyz": [0.8209737545613517, 0.17306449291246384, 0.46806275432174566, -0.27743113313240486], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9828, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 228, "teleop_active": true, "observed_at": 1792583585.6412861, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15414819398127294, -0.08595960175423727, 0.15085025954177858], "quaternion_wxyz": [0.9225464822776344, -0.05814806012939534, -0.19276878365560982, -0.32919141420803855], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.568676165785648}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.505148893301101}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8564552023431019}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8090854797601043}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.183922592169636}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.98233136710301}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.628894023703805}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.557211960501217}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.7593030686383395}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.6963858206532345}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.12126520320114795}], "left_finger_force_n": 26.9056197004626, "right_finger_force_n": 26.763060076697744, "bilateral_contact": true, "supported": false, "lift_m": 0.050725136501511725}, "simulation_time": 18.302000000000735, "positions": {"shoulder_pan": 0.6356293739543863, "shoulder_lift": -0.865884172931921, "elbow_flex": 0.27380462527672556, "wrist_flex": 1.6367304628661399, "wrist_roll": 6.719358228384328e-07, "gripper": -0.16779177675220516}, "velocities": {"shoulder_pan": 0.06711284186102479, "shoulder_lift": -0.006300774935384803, "elbow_flex": -2.9424013277515766e-05, "wrist_flex": 0.004709793000164587, "wrist_roll": -1.0572370588519725e-05, "gripper": 0.11965275230355951}, "actuator_forces": {"shoulder_pan": -0.630630421762362, "shoulder_lift": -0.09900467715272043, "elbow_flex": -0.37842509301594873, "wrist_flex": -0.12284045491855977, "wrist_roll": -3.479790502270417e-05, "gripper": -2.3078363389499543}, "applied_targets": {"shoulder_pan": 0.635138991555131, "shoulder_lift": -0.8659914803730865, "elbow_flex": 0.27342551741635307, "wrist_flex": 1.6366141157283909, "wrist_roll": 5.98952152513182e-07, "gripper": -0.1699419922656333}, "tcp": {"position_m": [0.1554976876633472, -0.08606009420829001, 0.14880867812105308], "quaternion_wxyz": [0.8192396201158368, 0.17585955987237217, 0.4671941258187626, -0.2822224456601504], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9829, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 230, "teleop_active": true, "observed_at": 1792583585.8170328, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15296815272316205, -0.08690649625871173, 0.1505645967056609], "quaternion_wxyz": [0.9216634815712751, -0.057734414509090067, -0.1884697151710746, -0.33418906412769084], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.085777203428062}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.032583804966386}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.3090920262147788}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.275536247590755}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.8125513055838685}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.540577233408118}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.2434816267625}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.188832642095186}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.7260765390479955}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.673393933431679}], "left_finger_force_n": 22.056117821191968, "right_finger_force_n": 21.83178474133736, "bilateral_contact": true, "supported": false, "lift_m": 0.05043947366539406}, "simulation_time": 18.40200000000068, "positions": {"shoulder_pan": 0.646166267823777, "shoulder_lift": -0.8661878084370095, "elbow_flex": 0.27468544913693865, "wrist_flex": 1.6380234066691106, "wrist_roll": 8.689686152202307e-07, "gripper": -0.17237300720473883}, "velocities": {"shoulder_pan": 0.12611541913527624, "shoulder_lift": -0.04838166393680163, "elbow_flex": -0.040731015344771956, "wrist_flex": 0.003082312559597334, "wrist_roll": -4.337778320016192e-05, "gripper": 0.09927352428788333}, "actuator_forces": {"shoulder_pan": 3.2083798117872675, "shoulder_lift": -1.2591779355595918, "elbow_flex": -1.373873691275321, "wrist_flex": 0.006002214215868662, "wrist_roll": 7.239860075840764e-06, "gripper": 0.3377151843263846}, "applied_targets": {"shoulder_pan": 0.6490148813340162, "shoulder_lift": -0.8673527956699446, "elbow_flex": 0.27339221796864793, "wrist_flex": 1.6380223762428083, "wrist_roll": 9.557241816178116e-07, "gripper": -0.17223599613281665}, "tcp": {"position_m": [0.15439461543249972, -0.08712006091851417, 0.14856401377226278], "quaternion_wxyz": [0.8172688853402865, 0.17855937393172958, 0.4671129970558168, -0.28634518857017055], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9830, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 231, "teleop_active": true, "observed_at": 1792583585.8962896, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15059269972425424, -0.08995777613603106, 0.15027649561920858], "quaternion_wxyz": [0.9185182791568145, -0.057744939497254566, -0.1807698417569146, -0.3468601405875883], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.509736611088372}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.429096358262058}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.5132371517781908}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.47740903914323324}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.634905494316825}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.127407291961109}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.841264502113961}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.757242051885437}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.812234442523078}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.73236854263121}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.3808752198751023}], "left_finger_force_n": 20.691791946549788, "right_finger_force_n": 21.52398475902879, "bilateral_contact": true, "supported": false, "lift_m": 0.05015137257894173}, "simulation_time": 18.502000000000624, "positions": {"shoulder_pan": 0.6723945388205504, "shoulder_lift": -0.8666514436742363, "elbow_flex": 0.2760604595918603, "wrist_flex": 1.6398466268614262, "wrist_roll": 7.153504754883215e-08, "gripper": -0.156099277312036}, "velocities": {"shoulder_pan": 0.24936717272712233, "shoulder_lift": 0.01725645671803468, "elbow_flex": -0.016815323398024454, "wrist_flex": -0.02667675583834392, "wrist_roll": 9.346796139861783e-05, "gripper": 0.41407255528015163}, "actuator_forces": {"shoulder_pan": -3.35, "shoulder_lift": -0.33501924989047893, "elbow_flex": -1.128032479393653, "wrist_flex": -0.5706338966936073, "wrist_roll": 0.001139575540925845, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.6695243915881941, "shoulder_lift": -0.8669600419606938, "elbow_flex": 0.2750103157962694, "wrist_flex": 1.6393203012580146, "wrist_roll": 1.1676268304848332e-06, "gripper": -0.16076597718756644}, "tcp": {"position_m": [0.15180359125933615, -0.08986309312790583, 0.14825386365257354], "quaternion_wxyz": [0.8128535179962827, 0.1849708428475546, 0.465827559797038, -0.296748428994778], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9831, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 232, "teleop_active": true, "observed_at": 1792583586.239343, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14978822530662295, -0.09040613388585347, 0.15058096722547565], "quaternion_wxyz": [0.916044469405432, -0.060801187923186624, -0.18743095320659448, -0.3493356314476343], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.5585574025726485}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.511483166399645}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.7102633337561512}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.6698537478656382}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.800297480261242}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.538511955918253}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.828487341940014}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.777011663218559}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.045040806956841}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.998418604000997}], "left_finger_force_n": 25.788967086773578, "right_finger_force_n": 25.64895841611641, "bilateral_contact": true, "supported": false, "lift_m": 0.05045584418520879}, "simulation_time": 18.60200000000057, "positions": {"shoulder_pan": 0.6788606532761252, "shoulder_lift": -0.8675138652395019, "elbow_flex": 0.27476831153959724, "wrist_flex": 1.6392229511719276, "wrist_roll": 2.2556358238170464e-06, "gripper": -0.17412290575476616}, "velocities": {"shoulder_pan": -0.17488437201255153, "shoulder_lift": 0.012101502930032822, "elbow_flex": 0.0116536522731641, "wrist_flex": 0.002600790765980023, "wrist_roll": -1.4697198138563769e-06, "gripper": -0.050731497132364106}, "actuator_forces": {"shoulder_pan": 1.637916602414748, "shoulder_lift": -0.22679998963928938, "elbow_flex": -0.49582073004449967, "wrist_flex": -0.03774258095427285, "wrist_roll": -0.0010420317930492776, "gripper": -0.10368248503539235}, "applied_targets": {"shoulder_pan": 0.6801213622919625, "shoulder_lift": -0.8677224269700049, "elbow_flex": 0.27428916121730795, "wrist_flex": 1.6391876181125382, "wrist_roll": 1.3023535186871705e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1512628855402599, -0.0907836054006407, 0.14864579669304157], "quaternion_wxyz": [0.8124530033119111, 0.18627315344970685, 0.4639657838923507, -0.29993029371924784], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9832, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 233, "teleop_active": true, "observed_at": 1792583586.314785, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14869202413470686, -0.09168666940629863, 0.15061081318588], "quaternion_wxyz": [0.914619610270468, -0.06067137552201325, -0.18390451689942855, -0.3549212326206366], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.342540789710528}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.274176864897071}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0903071511957276}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0324461542707917}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.27644599767323}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.9751601207673675}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.287589011429761}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.211854549493097}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.234519756913846}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.166812300848111}], "left_finger_force_n": 28.991077078514717, "right_finger_force_n": 28.900775618684815, "bilateral_contact": true, "supported": false, "lift_m": 0.05048569014561313}, "simulation_time": 18.702000000000513, "positions": {"shoulder_pan": 0.690544789692817, "shoulder_lift": -0.8680546599189936, "elbow_flex": 0.27471274934662937, "wrist_flex": 1.639744828374833, "wrist_roll": 1.55016013840747e-06, "gripper": -0.17250813385715172}, "velocities": {"shoulder_pan": 0.04907516935920879, "shoulder_lift": -0.0019071008084755171, "elbow_flex": 9.437486471033322e-05, "wrist_flex": 0.0020852345963619933, "wrist_roll": -5.314711917056079e-06, "gripper": -0.0003856965792856177}, "actuator_forces": {"shoulder_pan": -0.6372545396276337, "shoulder_lift": -0.16427086756675635, "elbow_flex": -0.3752949150427298, "wrist_flex": -0.029946572889457457, "wrist_roll": -3.976406562882862e-05, "gripper": -2.018134013587485}, "applied_targets": {"shoulder_pan": 0.690033971585819, "shoulder_lift": -0.8682204172358131, "elbow_flex": 0.27433690140189687, "wrist_flex": 1.6397165396342193, "wrist_roll": 1.4792078355296689e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1501674672561224, -0.09198469771017893, 0.1486720736165925], "quaternion_wxyz": [0.8107604070985132, 0.1888739514139623, 0.46290272130128474, -0.30449181166427813], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9833, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 235, "teleop_active": true, "observed_at": 1792583586.4884627, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14766240962870145, -0.09250789428248456, 0.1503064663177984], "quaternion_wxyz": [0.9134981856112789, -0.06058111044824538, -0.18112657100914578, -0.35922716937367927], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.4274806831747835}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.365717808201389}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0841689409512671}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0317799554205453}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.175293169671411}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.8519277408341885}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.330034107854626}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.26144529394776}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.146845290316076}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.08567549710766}], "left_finger_force_n": 28.936368298253583, "right_finger_force_n": 28.824000189226123, "bilateral_contact": true, "supported": false, "lift_m": 0.05018134327753154}, "simulation_time": 18.802000000000458, "positions": {"shoulder_pan": 0.6999231444110695, "shoulder_lift": -0.8681363875297822, "elbow_flex": 0.27576159393925503, "wrist_flex": 1.6409496008596085, "wrist_roll": 1.721886104333515e-06, "gripper": -0.17253776210334174}, "velocities": {"shoulder_pan": 0.13492518891499802, "shoulder_lift": -0.04454717328868219, "elbow_flex": -0.024551321158476504, "wrist_flex": 0.019694827522173827, "wrist_roll": -4.443857021662122e-05, "gripper": -9.469890647293668e-05}, "actuator_forces": {"shoulder_pan": 3.2161053381272495, "shoulder_lift": -1.141818937698872, "elbow_flex": -1.0116495412135578, "wrist_flex": 0.32433696558837255, "wrist_roll": 1.1488555021581899e-05, "gripper": -1.9886149349051152}, "applied_targets": {"shoulder_pan": 0.7027853396470841, "shoulder_lift": -0.869192028277872, "elbow_flex": 0.27479813540557113, "wrist_flex": 1.6412348261444032, "wrist_roll": 1.8107632447664072e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.14913678106352735, -0.0928550293218413, 0.1483870825550172], "quaternion_wxyz": [0.8088085492813915, 0.19132668777280856, 0.46295669216950364, -0.30804858436728483], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9834, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 236, "teleop_active": true, "observed_at": 1792583586.5640352, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1456136423830619, -0.09495283998257072, 0.15104013155282398], "quaternion_wxyz": [0.9091308518452057, -0.06309327704368438, -0.1820305981758595, -0.3692765819041846], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.480278096320754}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.392822007311618}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0832803118070662}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0105474464770134}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.095191686746899}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.751683359554838}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.363373353287594}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.269283832242408}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.122493096122934}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.035876809529908}], "left_finger_force_n": 28.81380290821819, "right_finger_force_n": 28.791027091182844, "bilateral_contact": true, "supported": false, "lift_m": 0.05091500851255712}, "simulation_time": 18.902000000000402, "positions": {"shoulder_pan": 0.7214908353612047, "shoulder_lift": -0.8706442269349571, "elbow_flex": 0.2734243455349652, "wrist_flex": 1.6407785128532413, "wrist_roll": 1.1086343904020923e-06, "gripper": -0.17254710516249838}, "velocities": {"shoulder_pan": 0.11134354793589996, "shoulder_lift": -0.0028630963366369326, "elbow_flex": 0.003920613134415742, "wrist_flex": -0.005610298939623022, "wrist_roll": 0.00011262116104118625, "gripper": -0.00012975217799253772}, "actuator_forces": {"shoulder_pan": -3.3448289988934903, "shoulder_lift": 0.4050264900614593, "elbow_flex": 0.1954110683003023, "wrist_flex": 0.08327695654884337, "wrist_roll": 0.0009068221547117012, "gripper": -1.9792462098189958}, "applied_targets": {"shoulder_pan": 0.7187227568872744, "shoulder_lift": -0.870296903184499, "elbow_flex": 0.27355756661142766, "wrist_flex": 1.6408425363615784, "wrist_roll": 2.0012046777571254e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.14716563526504567, -0.09527138182614033, 0.14912594941693344], "quaternion_wxyz": [0.8066439593348512, 0.19556803152007365, 0.4587821295082013, -0.31717128741403744], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9835, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 237, "teleop_active": true, "observed_at": 1792583586.6379557, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14484100193248042, -0.09489163761626578, 0.15038146598639757], "quaternion_wxyz": [0.909134945486329, -0.062269482957690823, -0.17879594817751543, -0.370982710248139], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.507736192511073}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.449231319770335}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0612195417277634}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0143593935066373}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.027222702737588}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.685986604991759}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.356617978489316}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.291759092868278}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.069532035323986}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.011588959183563}], "left_finger_force_n": 28.745755755245156, "right_finger_force_n": 28.729498065865144, "bilateral_contact": true, "supported": false, "lift_m": 0.05025634294613071}, "simulation_time": 19.002000000000347, "positions": {"shoulder_pan": 0.7253415085339634, "shoulder_lift": -0.870894899759058, "elbow_flex": 0.2757620889122997, "wrist_flex": 1.6443268520910745, "wrist_roll": 2.696379421640301e-06, "gripper": -0.17254937770097792}, "velocities": {"shoulder_pan": -0.017451637931457792, "shoulder_lift": -0.006114803919874071, "elbow_flex": -8.710275924133856e-05, "wrist_flex": 0.03482987085995923, "wrist_roll": -2.7232279478911936e-05, "gripper": -0.0003233746282251661}, "actuator_forces": {"shoulder_pan": 1.2728489330993398, "shoulder_lift": -0.22180009326893924, "elbow_flex": 0.06382871245182287, "wrist_flex": 0.46710705928148855, "wrist_roll": -0.0006014246692229875, "gripper": -1.9768345972126156}, "applied_targets": {"shoulder_pan": 0.7264202273251507, "shoulder_lift": -0.8711085145845626, "elbow_flex": 0.275773615082045, "wrist_flex": 1.6447489750811222, "wrist_roll": 2.1216140169987515e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.14629120505794294, -0.09528818857473303, 0.14847493806855636], "quaternion_wxyz": [0.8046697520120193, 0.19733312706126713, 0.46064622465139904, -0.31838857214973876], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9836, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 238, "teleop_active": true, "observed_at": 1792583586.7855928, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14425939487204628, -0.09605891696947892, 0.150847443446751], "quaternion_wxyz": [0.9071728664392901, -0.06359690234052473, -0.18012288424626624, -0.3748980807897224], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.521778347593092}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.452096931443398}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0797717912941183}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0214096863541908}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.053894457655097}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.713948076790575}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.39307757415312}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.317215687625286}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.065578379537865}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.996566083426613}], "left_finger_force_n": 28.842899291130472, "right_finger_force_n": 28.772437724742883, "bilateral_contact": true, "supported": false, "lift_m": 0.05072232040648414}, "simulation_time": 19.10200000000029, "positions": {"shoulder_pan": 0.7339685615158368, "shoulder_lift": -0.8712616523776936, "elbow_flex": 0.27408170263174525, "wrist_flex": 1.6421346198847346, "wrist_roll": 2.2910409356698126e-06, "gripper": -0.1725527519153199}, "velocities": {"shoulder_pan": 0.004793826768286175, "shoulder_lift": -0.0014193564852622764, "elbow_flex": -0.011755631473254147, "wrist_flex": -0.0018575564280838164, "wrist_roll": 3.7693914847860007e-06, "gripper": 1.7146511091638895e-05}, "actuator_forces": {"shoulder_pan": -0.46198279011628074, "shoulder_lift": -0.16783815241376487, "elbow_flex": -0.2428481723819118, "wrist_flex": 0.07878338264345075, "wrist_roll": -4.3913664143995466e-05, "gripper": -1.9737737632327992}, "applied_targets": {"shoulder_pan": 0.7335708156824374, "shoulder_lift": -0.8714287456341748, "elbow_flex": 0.27381798533753016, "wrist_flex": 1.6421962476297822, "wrist_roll": 2.2359036034319293e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1457596531871254, -0.09646870243056395, 0.1489725889386328], "quaternion_wxyz": [0.8042802001135319, 0.19868691742640307, 0.4581082886594468, -0.32217024134833355], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9837, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 240, "teleop_active": true, "observed_at": 1792583587.1013303, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14316983249225285, -0.09634108163816581, 0.15077431912307307], "quaternion_wxyz": [0.9061196679670573, -0.06382717174857126, -0.17894096112233993, -0.3779594844721602], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.135441483814364}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.078058231786579}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.1356151886208792}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.1066954863016558}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.885790988952955}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.5310763089294896}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.146276658309679}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.091440665814827}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.656011841439674}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.5991796155810505}], "left_finger_force_n": 19.872677688405922, "right_finger_force_n": 19.492908781145232, "bilateral_contact": true, "supported": false, "lift_m": 0.050649196082806214}, "simulation_time": 19.202000000000236, "positions": {"shoulder_pan": 0.740931433084541, "shoulder_lift": -0.8734614069564833, "elbow_flex": 0.2745210822246598, "wrist_flex": 1.6455444316731176, "wrist_roll": 2.3544627739690904e-06, "gripper": -0.17230145355985663}, "velocities": {"shoulder_pan": 0.14750373100278005, "shoulder_lift": 0.08227362211586586, "elbow_flex": 0.019438119566264803, "wrist_flex": -0.11807201047332756, "wrist_roll": -4.5064389983335604e-05, "gripper": 0.12735975255772722}, "actuator_forces": {"shoulder_pan": 3.1630490014584893, "shoulder_lift": 1.5933377627177379, "elbow_flex": 0.1328713334103213, "wrist_flex": -2.179786276803952, "wrist_roll": 1.3606577026257713e-05, "gripper": 1.0243869816143842}, "applied_targets": {"shoulder_pan": 0.7437594947776154, "shoulder_lift": -0.8720077316350462, "elbow_flex": 0.2746170446355785, "wrist_flex": 1.6435790596071291, "wrist_roll": 2.4445915539348356e-06, "gripper": -0.17153}, "tcp": {"position_m": [0.14465847689215142, -0.09676487954536019, 0.1489065972523056], "quaternion_wxyz": [0.8028093454513047, 0.20046481216173712, 0.4581129872908732, -0.32472065659030547], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9838, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 241, "teleop_active": true, "observed_at": 1792583587.2435968, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14224931814242142, -0.0987557718098274, 0.15071458907069546], "quaternion_wxyz": [0.9017063330727701, -0.0680960118493075, -0.18483031367324462, -0.38487189714777353], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.1113059399563125}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.042030475548632}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.511177595426037}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.477289749694642}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.776869587393855}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.693236472446848}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.902372839588175}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.818938914002185}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.4347393357112335}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.366129093165692}], "left_finger_force_n": 22.611909820466327, "right_finger_force_n": 22.522180182467284, "bilateral_contact": true, "supported": false, "lift_m": 0.050589466030428604}, "simulation_time": 19.30200000000018, "positions": {"shoulder_pan": 0.7567871596289103, "shoulder_lift": -0.8718893734829771, "elbow_flex": 0.2748061966053734, "wrist_flex": 1.6430164625300692, "wrist_roll": 1.934031143653433e-06, "gripper": -0.15530365787483263}, "velocities": {"shoulder_pan": 0.0023014658302712154, "shoulder_lift": -0.00048454902335915475, "elbow_flex": -0.004507660723185282, "wrist_flex": 0.0006145502826984742, "wrist_roll": 0.00010897398561968968, "gripper": -0.2171450483562765}, "actuator_forces": {"shoulder_pan": -2.813311366334119, "shoulder_lift": -0.07857860188164523, "elbow_flex": -0.33988134840291195, "wrist_flex": 0.11327592915040441, "wrist_roll": 0.0005940942223463402, "gripper": -0.5336568947175806}, "applied_targets": {"shoulder_pan": 0.7543824329070756, "shoulder_lift": -0.8719689153637874, "elbow_flex": 0.27445943182490085, "wrist_flex": 1.6431083157218314, "wrist_roll": 2.542594983536535e-06, "gripper": -0.15617796906253323}, "tcp": {"position_m": [0.14339331202636618, -0.09875445356507682, 0.14885105856217734], "quaternion_wxyz": [0.8003255874080104, 0.2040496935902333, 0.4561984700988611, -0.3312485963218757], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9839, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 242, "teleop_active": true, "observed_at": 1792583587.3201065, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14174901987342695, -0.09874439894129947, 0.15047154537167198], "quaternion_wxyz": [0.9013818220961715, -0.06805054770753387, -0.1840157707343275, -0.38602866457342466], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2673521569102455}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.2170415764441245}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.567566761943408}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.5417720593635305}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.989972337374051}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.902117731082205}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.087525127017551}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.031209396098309}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.681438611176486}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.631611141120505}], "left_finger_force_n": 23.485822623117564, "right_finger_force_n": 23.431784275412852, "bilateral_contact": true, "supported": false, "lift_m": 0.05034642233140513}, "simulation_time": 19.402000000000125, "positions": {"shoulder_pan": 0.7597957611998484, "shoulder_lift": -0.8723763822279664, "elbow_flex": 0.27571033400911993, "wrist_flex": 1.644959101674731, "wrist_roll": 3.0653212605315997e-06, "gripper": -0.15895090204609683}, "velocities": {"shoulder_pan": 0.013958131454380768, "shoulder_lift": 0.004822430919152324, "elbow_flex": -0.008472649029306407, "wrist_flex": 0.012129172565222926, "wrist_roll": -2.9993896462947565e-05, "gripper": 0.055033106181153375}, "actuator_forces": {"shoulder_pan": 1.0265647650900291, "shoulder_lift": -0.19168449501148643, "elbow_flex": -0.17570746006026638, "wrist_flex": 0.21685117294168776, "wrist_roll": -0.00044757100854160266, "gripper": -1.8939824452380662}, "applied_targets": {"shoulder_pan": 0.7606903015087545, "shoulder_lift": -0.872557853564754, "elbow_flex": 0.2755077328223521, "wrist_flex": 1.6451496026791605, "wrist_roll": 2.6271007277164145e-06, "gripper": -0.16076597718756644}, "tcp": {"position_m": [0.14284822873967012, -0.09882884482898843, 0.1486022159633577], "quaternion_wxyz": [0.7992795718664967, 0.2050913272895293, 0.4568372557430922, -0.33224905602973337], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9840, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 243, "teleop_active": true, "observed_at": 1792583587.3972425, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14171339697828583, -0.0989121752151444, 0.15035307195356454], "quaternion_wxyz": [0.9014677161927271, -0.06759894442583515, -0.18266592911222934, -0.3865481829168866], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.754130164448637}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.701028687173762}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.3350173231857168}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.31263464693909593}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.7302034427363084}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.615935747382371}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.299147601887008}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.222693839761256}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.446070218615727}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.393478651507424}], "left_finger_force_n": 19.448950011865893, "right_finger_force_n": 19.361390311771416, "bilateral_contact": true, "supported": false, "lift_m": 0.05022794891329768}, "simulation_time": 19.50200000000007, "positions": {"shoulder_pan": 0.7605754387802045, "shoulder_lift": -0.8723223487298521, "elbow_flex": 0.2762832702339081, "wrist_flex": 1.6453402718420327, "wrist_roll": 2.658492886833746e-06, "gripper": -0.150207359037361}, "velocities": {"shoulder_pan": 0.00034704027609105243, "shoulder_lift": -0.0002059375028776459, "elbow_flex": -2.3545692733906458e-05, "wrist_flex": -5.5247728173318966e-05, "wrist_roll": 6.048255367455067e-07, "gripper": 0.05782764794941652}, "actuator_forces": {"shoulder_pan": 0.004918417501244221, "shoulder_lift": -0.11838048781737598, "elbow_flex": -0.3393000796339152, "wrist_flex": -0.08252731437846705, "wrist_roll": 4.743665565889272e-05, "gripper": -1.4545236622168147}, "applied_targets": {"shoulder_pan": 0.7605807427164005, "shoulder_lift": -0.872441034234443, "elbow_flex": 0.2759427748779501, "wrist_flex": 1.6452576298220318, "wrist_roll": 2.7064480824416665e-06, "gripper": -0.1515899609375}, "tcp": {"position_m": [0.14270329605413262, -0.09885073864578343, 0.14846477549037723], "quaternion_wxyz": [0.7989030475513247, 0.2054347359076192, 0.4571688020975572, -0.3324863550349957], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9841, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 245, "teleop_active": true, "observed_at": 1792583587.5729413, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1407091768226403, -0.09961585752378459, 0.15040374838434348], "quaternion_wxyz": [0.8995446486394562, -0.06890378113570393, -0.18366934218789344, -0.390304069655425], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.551685872032319}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 4.50333231932196}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.0}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.0}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.4615805984554386}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.3869474845343146}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 3.766259948747755}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 3.721200317260946}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 3.073099923327433}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 3.0252106885491163}], "left_finger_force_n": 13.903546274344032, "right_finger_force_n": 13.58577087788525, "bilateral_contact": true, "supported": false, "lift_m": 0.05027862534407662}, "simulation_time": 19.602000000000015, "positions": {"shoulder_pan": 0.7693638468308521, "shoulder_lift": -0.87309893209323, "elbow_flex": 0.27604981814053575, "wrist_flex": 1.645858995775969, "wrist_roll": 2.7080261265876218e-06, "gripper": -0.15672720552569422}, "velocities": {"shoulder_pan": 0.14442470076445582, "shoulder_lift": -0.013973653460804581, "elbow_flex": -0.03272490663574075, "wrist_flex": -0.03617637688498265, "wrist_roll": -4.5646904652374275e-05, "gripper": 0.13643512420876314}, "actuator_forces": {"shoulder_pan": 3.189548323397503, "shoulder_lift": -0.4855212362833754, "elbow_flex": -1.168055441614058, "wrist_flex": -0.8439271050031039, "wrist_roll": 1.614286233940585e-05, "gripper": 1.5158433380926226}, "applied_targets": {"shoulder_pan": 0.7722111397175553, "shoulder_lift": -0.8735598996902483, "elbow_flex": 0.27494707319613, "wrist_flex": 1.6450891305953323, "wrist_roll": 2.7993199358914666e-06, "gripper": -0.15547197234371676}, "tcp": {"position_m": [0.14178930848990487, -0.09966232193785499, 0.14853697728967896], "quaternion_wxyz": [0.7975597136863347, 0.20732475540595582, 0.4561600365521098, -0.3359061921924183], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9842, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 246, "teleop_active": true, "observed_at": 1792583587.6491024, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14016894813696068, -0.10037154994428024, 0.15053644178681538], "quaternion_wxyz": [0.8978288170135056, -0.07046759224984663, -0.1857677980314885, -0.3929733565996186], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.028926241600489}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.975230650339469}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.5529358902155785}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.5258410981713358}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.097219604319382}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.063416307261511}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.869664076243253}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.790083579870306}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.749880662915838}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.696700686837083}], "left_finger_force_n": 23.243569791907767, "right_finger_force_n": 23.106329005866478, "bilateral_contact": true, "supported": false, "lift_m": 0.05041131874654853}, "simulation_time": 19.70199999999996, "positions": {"shoulder_pan": 0.7755080300565494, "shoulder_lift": -0.8733268483611231, "elbow_flex": 0.27582541639321023, "wrist_flex": 1.6452021858970416, "wrist_roll": 2.810453521660207e-06, "gripper": -0.15537901162399279}, "velocities": {"shoulder_pan": 0.0036933987071848043, "shoulder_lift": 0.00339153176765769, "elbow_flex": 0.006389655842831343, "wrist_flex": 0.0021894288703723226, "wrist_roll": -1.9581404882382457e-06, "gripper": -0.29430734404849207}, "actuator_forces": {"shoulder_pan": 0.05693741879349545, "shoulder_lift": -0.0946316638371627, "elbow_flex": -0.5350390590123197, "wrist_flex": -0.04484108055953584, "wrist_roll": 6.961039101239597e-05, "gripper": -0.35487829258605075}, "applied_targets": {"shoulder_pan": 0.7755673930240582, "shoulder_lift": -0.8734173427274867, "elbow_flex": 0.2753088566541254, "wrist_flex": 1.645159341433407, "wrist_roll": 2.877779554704127e-06, "gripper": -0.15617796906253323}, "tcp": {"position_m": [0.1412284792495042, -0.1004018913887104, 0.14867475294917004], "quaternion_wxyz": [0.7967823710219419, 0.2085840439333304, 0.4549682680833343, -0.33857705900181967], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9843, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 247, "teleop_active": true, "observed_at": 1792583587.7881503, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13931705410645828, -0.1008188984564887, 0.15070758777994364], "quaternion_wxyz": [0.8957410875838644, -0.07259496235133242, -0.18913602550527234, -0.39573405124067135], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.07574216408664}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.019323645881492}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.4286261234319917}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.3675672282167033}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.518335937266186}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.467765087839387}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.414287268825896}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.345914241299434}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.513324173038548}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 9.457447417087337}], "left_finger_force_n": 31.877360186722402, "right_finger_force_n": 31.730973100251216, "bilateral_contact": true, "supported": false, "lift_m": 0.050582464739676786}, "simulation_time": 19.801999999999904, "positions": {"shoulder_pan": 0.7822526529731767, "shoulder_lift": -0.8737327554977175, "elbow_flex": 0.2750042903910774, "wrist_flex": 1.644687428030008, "wrist_roll": 3.459469865816841e-06, "gripper": -0.1731362833026923}, "velocities": {"shoulder_pan": -0.012673729588976335, "shoulder_lift": 0.007845069408369933, "elbow_flex": 0.011177254617359285, "wrist_flex": 0.007267989490324026, "wrist_roll": -3.1772870581240934e-05, "gripper": -0.39412547894907446}, "actuator_forces": {"shoulder_pan": 1.2637135748926767, "shoulder_lift": -0.12406709094352664, "elbow_flex": -0.48178757446163445, "wrist_flex": -0.16139635238528172, "wrist_roll": -0.0006429495479773643, "gripper": -0.8359068481520353}, "applied_targets": {"shoulder_pan": 0.7833275067353668, "shoulder_lift": -0.873846814315182, "elbow_flex": 0.2745374237579599, "wrist_flex": 1.6445362881252303, "wrist_roll": 2.8390408689465448e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1406252692484091, -0.10117264389783456, 0.14891055333424513], "quaternion_wxyz": [0.796046572221969, 0.20984204213782034, 0.453546255499885, -0.3414263702866492], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9844, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 9951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 248, "teleop_active": true, "observed_at": 1792583588.0690432, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13815999512898292, -0.10154133208251664, 0.1506866338885901], "quaternion_wxyz": [0.8949962642630283, -0.07111121091584002, -0.18345592842889633, -0.4003358651952111], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.1657275286031386}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.09972319617433}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0901038334195263}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0340919664882429}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.463829298660937}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.34426978243933}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.222432599689497}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.148106368422525}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.397103365531557}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.33173284372103}], "left_finger_force_n": 29.197745605785506, "right_finger_force_n": 29.099375177364607, "bilateral_contact": true, "supported": false, "lift_m": 0.05056151084832325}, "simulation_time": 19.90199999999985, "positions": {"shoulder_pan": 0.7913310046844534, "shoulder_lift": -0.8750034913494537, "elbow_flex": 0.2750547498248531, "wrist_flex": 1.6464812598472405, "wrist_roll": 3.0094920353501056e-06, "gripper": -0.17246794443529326}, "velocities": {"shoulder_pan": 0.007474391657634534, "shoulder_lift": -0.008280857369270412, "elbow_flex": -0.0008287620005767409, "wrist_flex": 0.005157043557035532, "wrist_roll": 3.3769901140969907e-06, "gripper": -0.000274213336223266}, "actuator_forces": {"shoulder_pan": -0.49103753108715864, "shoulder_lift": -0.061083046658382045, "elbow_flex": -0.3958564021653501, "wrist_flex": -0.17881747048841135, "wrist_roll": -4.454894463597203e-05, "gripper": -2.058479350354844}, "applied_targets": {"shoulder_pan": 0.7909107722371932, "shoulder_lift": -0.8750757924552839, "elbow_flex": 0.27465746418001447, "wrist_flex": 1.646314032310133, "wrist_roll": 2.9524117192812786e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13949619982073552, -0.10187544959705508, 0.14890586142038478], "quaternion_wxyz": [0.7943468054355624, 0.21199194422882423, 0.4528480747201617, -0.34496549030104845], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9845, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 250, "teleop_active": true, "observed_at": 1792583588.2543097, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13816475861289612, -0.10141714452839544, 0.15058005345455552], "quaternion_wxyz": [0.8957068815167819, -0.0697508404735526, -0.1805420728001113, -0.4003105826801895], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.3047477416631095}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.241266590008299}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0715809445540596}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.017678029731869}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.25046471019525}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.090377162815867}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.325871345689321}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.255064026448255}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.26335113926091}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.200479569227468}], "left_finger_force_n": 28.976115178968453, "right_finger_force_n": 29.044766080625955, "bilateral_contact": true, "supported": false, "lift_m": 0.05045493041428867}, "simulation_time": 20.001999999999793, "positions": {"shoulder_pan": 0.7910947245612263, "shoulder_lift": -0.8749642519788086, "elbow_flex": 0.27544628428610324, "wrist_flex": 1.6466187752972823, "wrist_roll": 2.955259312555465e-06, "gripper": -0.17251132597088822}, "velocities": {"shoulder_pan": 0.15490499879869266, "shoulder_lift": -0.018228984872170197, "elbow_flex": 0.026429594894173482, "wrist_flex": 0.05521145709988364, "wrist_roll": -3.671482121613077e-05, "gripper": -0.00021801668666037311}, "actuator_forces": {"shoulder_pan": 2.9905106874190324, "shoulder_lift": -0.48707943691738365, "elbow_flex": 0.20956890499508063, "wrist_flex": 1.0018630655974903, "wrist_roll": -9.68332730325993e-07, "gripper": -2.0148772272073927}, "applied_targets": {"shoulder_pan": 0.7937805929946578, "shoulder_lift": -0.8754160951735481, "elbow_flex": 0.27560512158640943, "wrist_flex": 1.6475118112085867, "wrist_roll": 3.0286889549878906e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13953335862981298, -0.1018048496451474, 0.14883537940306601], "quaternion_wxyz": [0.7943366734629886, 0.21194152846297407, 0.45307860059510835, -0.3447170134868738], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9846, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 251, "teleop_active": true, "observed_at": 1792583588.3326545, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1375704001114297, -0.10221684609846794, 0.15038748007428168], "quaternion_wxyz": [0.8953622119961014, -0.06817369252616896, -0.17529626997950412, -0.40367075037469347], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.258949471157886}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.201312434564059}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.32740502162231017}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.30543318117962837}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.9323716055710944}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 2.6478371119919917}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.527602026309791}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.469212311786523}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.848286183405899}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.791202609962957}], "left_finger_force_n": 18.67330882608697, "right_finger_force_n": 18.63630313146517, "bilateral_contact": true, "supported": false, "lift_m": 0.050262357034014826}, "simulation_time": 20.101999999999737, "positions": {"shoulder_pan": 0.7975803529392227, "shoulder_lift": -0.8751926221332373, "elbow_flex": 0.27649385847523644, "wrist_flex": 1.6476999874388787, "wrist_roll": 3.0395980536557794e-06, "gripper": -0.15615363908444205}, "velocities": {"shoulder_pan": 0.004148437330239021, "shoulder_lift": 0.0035284272815446108, "elbow_flex": 0.0027712092578612195, "wrist_flex": 0.0019000986649001528, "wrist_roll": -9.394329945731894e-07, "gripper": 0.5932203605970225}, "actuator_forces": {"shoulder_pan": 0.0556691364810149, "shoulder_lift": -0.09224808303349619, "elbow_flex": -0.53970988049889, "wrist_flex": -0.07194387597996865, "wrist_roll": 9.087823347429672e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.7976388861259467, "shoulder_lift": -0.8752805360443578, "elbow_flex": 0.2759720600278323, "wrist_flex": 1.6476303023527514, "wrist_roll": 3.1276207570902604e-06, "gripper": -0.16076597718756644}, "tcp": {"position_m": [0.13866919799715233, -0.10231085684274938, 0.14858138495345535], "quaternion_wxyz": [0.792690615081754, 0.21380449668073304, 0.453163488492899, -0.347234904146105], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9847, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 252, "teleop_active": true, "observed_at": 1792583588.4063668, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13731548827518322, -0.10194586260385723, 0.15026581407466616], "quaternion_wxyz": [0.8944192474917453, -0.07018752385571098, -0.1797693515091214, -0.4034487594097849], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.469769702466141}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.407066324216444}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.534149395452647}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.4924556536005053}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.107032047295903}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.966083072668632}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.5444938894360645}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.478650134223621}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.460060388116963}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.3979591228721935}], "left_finger_force_n": 23.976556195700272, "right_finger_force_n": 23.88116353464884, "bilateral_contact": true, "supported": false, "lift_m": 0.050140691034399304}, "simulation_time": 20.201999999999682, "positions": {"shoulder_pan": 0.7976396158415602, "shoulder_lift": -0.8750534863644335, "elbow_flex": 0.27670442003457435, "wrist_flex": 1.6477798884808192, "wrist_roll": 3.0613546793660936e-06, "gripper": -0.1689265322724307}, "velocities": {"shoulder_pan": -6.191618174185389e-06, "shoulder_lift": 0.00037967257822091376, "elbow_flex": -0.004946563729896312, "wrist_flex": 0.0008193190423176566, "wrist_roll": -9.141675679992603e-07, "gripper": 0.13238126756393903}, "actuator_forces": {"shoulder_pan": -0.00026709113308243104, "shoulder_lift": -0.115284468491609, "elbow_flex": -0.3789598641068892, "wrist_flex": -0.06931209525578197, "wrist_roll": 2.8824236700686172e-05, "gripper": -1.0381192444754959}, "applied_targets": {"shoulder_pan": 0.7976393433276397, "shoulder_lift": -0.8751683667967685, "elbow_flex": 0.2763186374096808, "wrist_flex": 1.647711324060552, "wrist_roll": 3.0891919069626403e-06, "gripper": -0.1699419922656333}, "tcp": {"position_m": [0.13864765467685344, -0.10230261048361779, 0.14851816303602472], "quaternion_wxyz": [0.7925724036901101, 0.21389344057113263, 0.453338140044085, -0.3472219920611223], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9848, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 253, "teleop_active": true, "observed_at": 1792583588.5456028, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13638295727199953, -0.1026143004430532, 0.15012726856516206], "quaternion_wxyz": [0.8931440627443726, -0.07013324737832424, -0.1777262853064691, -0.40717119041971794], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.238525808131745}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.168370662904277}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9886789295095434}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9347029684565298}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.0041777894422586}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.846984913916897}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.162925829858262}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.086079998770682}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.954310058350572}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.8848285821738475}], "left_finger_force_n": 28.18144107236125, "right_finger_force_n": 28.088144469153363, "bilateral_contact": true, "supported": false, "lift_m": 0.05000214552489521}, "simulation_time": 20.301999999999627, "positions": {"shoulder_pan": 0.8055734548539163, "shoulder_lift": -0.8752463191011097, "elbow_flex": 0.27724419759099594, "wrist_flex": 1.6485858467348904, "wrist_roll": 3.1286372418964953e-06, "gripper": -0.17026736099483442}, "velocities": {"shoulder_pan": 0.005274822462366411, "shoulder_lift": 0.0006206861822981556, "elbow_flex": 0.004171101573457899, "wrist_flex": 0.00396878130750223, "wrist_roll": 2.820214601026786e-06, "gripper": -0.007743568192178436}, "actuator_forces": {"shoulder_pan": -0.4749688867597115, "shoulder_lift": -0.09035626546426556, "elbow_flex": -0.3344740772899968, "wrist_flex": -0.0641115689459184, "wrist_roll": -6.04506474600414e-05, "gripper": -1.955790525944309}, "applied_targets": {"shoulder_pan": 0.8051651036836781, "shoulder_lift": -0.8753361973712178, "elbow_flex": 0.27691375156624065, "wrist_flex": 1.6485263153250043, "wrist_roll": 3.055901618492581e-06, "gripper": -0.17223599613281665}, "tcp": {"position_m": [0.13772868610542102, -0.10298062690750714, 0.14838767010890008], "quaternion_wxyz": [0.790926011642696, 0.21587259373636564, 0.4529387314877426, -0.35025929380786763], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9849, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 255, "teleop_active": true, "observed_at": 1792583588.654531, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1363715394934015, -0.10247463521739812, 0.1500136661629198], "quaternion_wxyz": [0.8934920636860628, -0.069547460015728, -0.17655231258580467, -0.40701887407832177], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.977919244377813}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 5.918004497805037}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.09773472040901876}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.06982885883748108}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.9411902689878207}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 3.75260837101085}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.1304145377875985}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.072621818067649}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.752532845271119}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 4.693193433697902}], "left_finger_force_n": 19.75728596142802, "right_finger_force_n": 19.64876263482427, "bilateral_contact": true, "supported": false, "lift_m": 0.04988854312265295}, "simulation_time": 20.40199999999957, "positions": {"shoulder_pan": 0.805040468554168, "shoulder_lift": -0.8751273096349262, "elbow_flex": 0.2776667375650877, "wrist_flex": 1.648698868954459, "wrist_roll": 3.1331461089896916e-06, "gripper": -0.17230628585816218}, "velocities": {"shoulder_pan": -1.2678112838625196e-05, "shoulder_lift": 0.0006523370950101727, "elbow_flex": 0.01650711012431841, "wrist_flex": 0.001314183748504067, "wrist_roll": 3.161936166441309e-08, "gripper": 0.12820959163110163}, "actuator_forces": {"shoulder_pan": 4.4644997728937597e-05, "shoulder_lift": 0.00046202328769595624, "elbow_flex": -0.001783897928589795, "wrist_flex": -1.5505995634157443e-06, "wrist_roll": -1.0077872652997436e-06, "gripper": 1.0338291366265935}, "applied_targets": {"shoulder_pan": 0.8050404939103937, "shoulder_lift": -0.8751286143091163, "elbow_flex": 0.27763372334483905, "wrist_flex": 1.648696240586962, "wrist_roll": 3.1330828702663627e-06, "gripper": -0.17153}, "tcp": {"position_m": [0.1377563645597939, -0.10290179740110952, 0.14829381005141995], "quaternion_wxyz": [0.7908683379741124, 0.21585829710812907, 0.45324932403654344, -0.34999645401069424], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9850, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 256, "teleop_active": true, "observed_at": 1792583588.995738, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13635375797847035, -0.10245832189590029, 0.14982331231092272], "quaternion_wxyz": [0.8934944345432432, -0.06955797455543031, -0.17651956809078456, -0.40702607495962595], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.668865174644475}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.589803779667308}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 2.016397292095582}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.93492320513298}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 8.267255137037859}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 8.119355920262638}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.435118641240987}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.340628179257196}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 11.400945206045074}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 11.322643002923789}], "left_finger_force_n": 37.596600508840844, "right_finger_force_n": 37.49933502946705, "bilateral_contact": true, "supported": false, "lift_m": 0.04969818927065586}, "simulation_time": 20.501999999999516, "positions": {"shoulder_pan": 0.805040476971724, "shoulder_lift": -0.8749272653835382, "elbow_flex": 0.278497793351288, "wrist_flex": 1.6488185771830048, "wrist_roll": 3.091032647837918e-06, "gripper": -0.17029779945554757}, "velocities": {"shoulder_pan": -1.5959278013164288e-06, "shoulder_lift": 0.003194647700882413, "elbow_flex": 0.0051817010213348795, "wrist_flex": 0.001937348749603575, "wrist_roll": -7.973236412843973e-07, "gripper": -0.4697761143552586}, "actuator_forces": {"shoulder_pan": -1.9387680936233664e-05, "shoulder_lift": -0.0933474474227296, "elbow_flex": -0.5337050102141347, "wrist_flex": -0.04426185667057325, "wrist_roll": 8.744682574566513e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.805040457489635, "shoulder_lift": -0.8750167149568798, "elbow_flex": 0.27798213819537293, "wrist_flex": 1.6487760577697022, "wrist_roll": 3.0993376824622685e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13771225180000915, -0.10285591344225353, 0.14810905150383505], "quaternion_wxyz": [0.7905940766325629, 0.2160494068288051, 0.4537163461330331, -0.34989303658992144], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9851, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 257, "teleop_active": true, "observed_at": 1792583589.069039, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13630907067377165, -0.1024091278004667, 0.14975517233494134], "quaternion_wxyz": [0.8937001136127466, -0.06907127998458472, -0.17543281144324638, -0.40712724531646516], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.443028443766769}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.372263682961287}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.07691386276808}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0174508191376221}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.126066091794994}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.944671160816876}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.381690731687084}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.304432933722561}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.137655032568723}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.067569794684658}], "left_finger_force_n": 28.980394061245626, "right_finger_force_n": 28.891348492663028, "bilateral_contact": true, "supported": false, "lift_m": 0.04963004929467449}, "simulation_time": 20.60199999999946, "positions": {"shoulder_pan": 0.805040452653421, "shoulder_lift": -0.8747910025362586, "elbow_flex": 0.27871400316066436, "wrist_flex": 1.6489243962994766, "wrist_roll": 3.041261628547624e-06, "gripper": -0.17252484923443356}, "velocities": {"shoulder_pan": -4.1420510992866246e-07, "shoulder_lift": 0.00039252228502294065, "elbow_flex": -0.00513155516388339, "wrist_flex": 0.0006682397926021431, "wrist_roll": -4.317399502080845e-07, "gripper": 0.0005362506434187912}, "actuator_forces": {"shoulder_pan": 6.085651307330409e-06, "shoulder_lift": -0.11474112450491702, "elbow_flex": -0.3715058528991335, "wrist_flex": -0.0709803843667487, "wrist_roll": 2.5969517047447644e-05, "gripper": -2.002441913994801}, "applied_targets": {"shoulder_pan": 0.8050404580641513, "shoulder_lift": -0.8749053302348869, "elbow_flex": 0.2783353342620832, "wrist_flex": 1.648854011579571, "wrist_roll": 3.0668272903328315e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13769446063360366, -0.1028374031920826, 0.14804252596580447], "quaternion_wxyz": [0.7904795435025318, 0.2161291466669013, 0.4539111924295902, -0.34984984300727245], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9852, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 258, "teleop_active": true, "observed_at": 1792583589.198098, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13597687099269468, -0.10325739845054137, 0.1492760911369187], "quaternion_wxyz": [0.8928489959020597, -0.0688158086923281, -0.17341591304140044, -0.40989263971767326], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.4947110214078165}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.4223415627201135}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0749115998587242}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0142442070187374}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.064207135174703}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.875388990689648}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.413437394200056}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.334869124772818}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.092686828667643}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.021012302110416}], "left_finger_force_n": 28.945804516869742, "right_finger_force_n": 28.862005649750934, "bilateral_contact": true, "supported": false, "lift_m": 0.04915096809665184}, "simulation_time": 20.701999999999405, "positions": {"shoulder_pan": 0.8108519615247867, "shoulder_lift": -0.8714814590759404, "elbow_flex": 0.28039382488681475, "wrist_flex": 1.6461101116678512, "wrist_roll": 3.082518076633415e-06, "gripper": -0.17253994237599174}, "velocities": {"shoulder_pan": -0.004687574547222701, "shoulder_lift": 0.019684077551776896, "elbow_flex": 0.01592081204158617, "wrist_flex": 0.003343113406106324, "wrist_roll": 4.233535927353589e-06, "gripper": -6.877418544919524e-05}, "actuator_forces": {"shoulder_pan": -0.35193413274907925, "shoulder_lift": -0.34252312675073426, "elbow_flex": -0.44732803666852305, "wrist_flex": 0.08535618623773189, "wrist_roll": -4.199082137793181e-05, "gripper": -1.9864550244715247}, "applied_targets": {"shoulder_pan": 0.810540176541523, "shoulder_lift": -0.8717851422563929, "elbow_flex": 0.27996703359653097, "wrist_flex": 1.6461811999995615, "wrist_roll": 3.034986076804224e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13737039094861864, -0.10370174883498827, 0.14758122051705286], "quaternion_wxyz": [0.7889667547577955, 0.21779353437049057, 0.4541146784368755, -0.3519620648614492], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9853, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 260, "teleop_active": true, "observed_at": 1792583589.372006, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1359761332938864, -0.10315819813709515, 0.14918678672680785], "quaternion_wxyz": [0.8930926019810147, -0.06842987841727617, -0.17265386205719196, -0.40974821530216965], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.520155823697268}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.448929169264179}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0716804629699486}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0121130151701307}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.026867956468266}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.826027339971309}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.429509207672717}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.352272367091762}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.067710327045859}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.997167630895856}], "left_finger_force_n": 28.9057737675411, "right_finger_force_n": 28.84665953270619, "bilateral_contact": true, "supported": false, "lift_m": 0.049061663686540996}, "simulation_time": 20.80199999999935, "positions": {"shoulder_pan": 0.8104373695781402, "shoulder_lift": -0.871532921689025, "elbow_flex": 0.2807999402198723, "wrist_flex": 1.6463511273563787, "wrist_roll": 3.0734783297013894e-06, "gripper": -0.1725452500137091}, "velocities": {"shoulder_pan": 0.00018682974870335282, "shoulder_lift": 0.00044707671399264585, "elbow_flex": 0.016141928058637903, "wrist_flex": 0.0006612344281438573, "wrist_roll": 2.1721462147175966e-07, "gripper": -3.7548832370750586e-05}, "actuator_forces": {"shoulder_pan": -0.0006139002585996423, "shoulder_lift": 0.0017887537183014501, "elbow_flex": -0.0014537802798599841, "wrist_flex": 0.0002243143133000558, "wrist_roll": -8.479820352404535e-07, "gripper": -1.9811815027271962}, "applied_targets": {"shoulder_pan": 0.8104369959186427, "shoulder_lift": -0.8715338158424529, "elbow_flex": 0.28076765636375506, "wrist_flex": 1.6463498048875225, "wrist_roll": 3.073043900458446e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1373723262997115, -0.10361570552632764, 0.1474917115677964], "quaternion_wxyz": [0.7888909559637555, 0.2178023844803225, 0.45441606416401104, -0.35173743267239366], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9854, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 261, "teleop_active": true, "observed_at": 1792583589.4461324, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13604882463636067, -0.10318231857644668, 0.1471732932143113], "quaternion_wxyz": [0.8942660216772451, -0.06591689772822222, -0.16648252769338415, -0.4101546208934643], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.566396497049563}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.494518461681551}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0792743742614335}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.018558742427956}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.00789007390716}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.852616463141459}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.4552517315633136}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.377616010088389}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.023395676868375}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.952207854708517}], "left_finger_force_n": 29.019254612469123, "right_finger_force_n": 28.808471273228594, "bilateral_contact": true, "supported": false, "lift_m": 0.047048170174044446}, "simulation_time": 20.901999999999294, "positions": {"shoulder_pan": 0.8101880326100377, "shoulder_lift": -0.8641967747992456, "elbow_flex": 0.2877538191328303, "wrist_flex": 1.644544098239766, "wrist_roll": 3.0554552626729274e-06, "gripper": -0.17254678200587564}, "velocities": {"shoulder_pan": -0.00496755830419832, "shoulder_lift": 0.03656438712278477, "elbow_flex": 8.311662607241033e-05, "wrist_flex": 0.04444614902176249, "wrist_roll": -4.1141625740537285e-06, "gripper": 7.475891144679176e-05}, "actuator_forces": {"shoulder_pan": 0.06446564482371286, "shoulder_lift": -2.621549348291069, "elbow_flex": -2.573830880453386, "wrist_flex": 0.39532460141094816, "wrist_roll": -1.1903031182042799e-05, "gripper": -1.9797762741902432}, "applied_targets": {"shoulder_pan": 0.8102455019747661, "shoulder_lift": -0.8664917109315405, "elbow_flex": 0.2854431025171115, "wrist_flex": 1.644904962965057, "wrist_roll": 3.0421994812257842e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13742429612792573, -0.10362073889492424, 0.14554738266331096], "quaternion_wxyz": [0.7860081905261662, 0.2197770669009767, 0.45936682217694114, -0.3505300100893561], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9855, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 262, "teleop_active": true, "observed_at": 1792583589.590279, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13600586048501176, -0.10314626338431407, 0.14769749052022735], "quaternion_wxyz": [0.8940042277099692, -0.06646873716477981, -0.16788764221055238, -0.410063516311073], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.55333080374624}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.48118823758523}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0705794808279707}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0105457378276748}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.990846375699086}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.786875316626957}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.441588391947547}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.363631295033824}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.03728087631305}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.965831063533222}], "left_finger_force_n": 28.893365952313157, "right_finger_force_n": 28.80833162682764, "bilateral_contact": true, "supported": false, "lift_m": 0.04757236747996049}, "simulation_time": 21.00199999999924, "positions": {"shoulder_pan": 0.810234742847278, "shoulder_lift": -0.8662213652821735, "elbow_flex": 0.286217772578566, "wrist_flex": 1.645018889966063, "wrist_roll": 2.9832112569250784e-06, "gripper": -0.17255003541051397}, "velocities": {"shoulder_pan": -5.9642000181423984e-05, "shoulder_lift": -0.0025823320608334456, "elbow_flex": -0.006495949960013464, "wrist_flex": 0.0006333652757737801, "wrist_roll": -5.237250563718651e-07, "gripper": -6.899816376776787e-06}, "actuator_forces": {"shoulder_pan": -0.0025520309586681833, "shoulder_lift": -0.18023646462268061, "elbow_flex": -0.39372250558056976, "wrist_flex": -0.06853629644001558, "wrist_roll": 2.271124136053954e-05, "gripper": -1.9764416122090438}, "applied_targets": {"shoulder_pan": 0.81023214398438, "shoulder_lift": -0.8664010969034494, "elbow_flex": 0.28581547167908544, "wrist_flex": 1.6449508912363466, "wrist_roll": 3.0054292713074866e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13739418500555167, -0.10359674790981833, 0.14600151828082997], "quaternion_wxyz": [0.786692514430173, 0.2193089528738262, 0.4582057171152933, -0.3508076278129906], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9856, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 263, "teleop_active": true, "observed_at": 1792583589.6636112, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1360959729860669, -0.10293809626425841, 0.14630649884985256], "quaternion_wxyz": [0.8950634901584281, -0.06462006275327799, -0.16365027352372766, -0.4097611304782152], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.564839673866425}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.4925296218392115}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.071593676724255}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0113012274118651}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.982866053616057}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.793390240142236}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.450005235207263}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.371970942488169}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.026449958197539}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.9548342678447375}], "left_finger_force_n": 28.91652049360005, "right_finger_force_n": 28.80326040373771, "bilateral_contact": true, "supported": false, "lift_m": 0.0461813758095857}, "simulation_time": 21.101999999999183, "positions": {"shoulder_pan": 0.8087669303675773, "shoulder_lift": -0.8614709922156072, "elbow_flex": 0.29124181771521385, "wrist_flex": 1.6444351751464046, "wrist_roll": 2.933944625283377e-06, "gripper": -0.17255202307954}, "velocities": {"shoulder_pan": -0.006230760253852158, "shoulder_lift": 0.03746409880886444, "elbow_flex": 0.02965951075678696, "wrist_flex": -0.001994693454198682, "wrist_roll": 7.617807741248014e-07, "gripper": -2.2773690457805944e-05}, "actuator_forces": {"shoulder_pan": 0.06406528389879895, "shoulder_lift": -0.49244304348417245, "elbow_flex": -0.7502885580374823, "wrist_flex": -0.07040059319115244, "wrist_roll": 3.885011966798689e-05, "gripper": -1.974401143694962}, "applied_targets": {"shoulder_pan": 0.808822414443371, "shoulder_lift": -0.8618939734095292, "elbow_flex": 0.2905544723894248, "wrist_flex": 1.644362034088213, "wrist_roll": 2.9751955330040883e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1374701560085295, -0.10337490382717202, 0.14462513616312084], "quaternion_wxyz": [0.7847923291066695, 0.22045417989505864, 0.4619628531595604, -0.3494156222077138], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9857, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 265, "teleop_active": true, "observed_at": 1792583590.0392141, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13618354824684367, -0.10304122595540252, 0.14633360861580486], "quaternion_wxyz": [0.8951327887473994, -0.0644752450970321, -0.1633423804040956, -0.40975541490370215], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.97012173241994}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.895057421816794}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2909970802232944}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.236545808848122}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.428480873960236}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.2535947007934825}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.563023336238521}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.478948147665251}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.967409834530391}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.893066333537211}], "left_finger_force_n": 31.07479761806187, "right_finger_force_n": 30.902447651971375, "bilateral_contact": true, "supported": false, "lift_m": 0.046208485575538}, "simulation_time": 21.201999999999128, "positions": {"shoulder_pan": 0.8089023992949669, "shoulder_lift": -0.8614227465868779, "elbow_flex": 0.2915484399188095, "wrist_flex": 1.6441847953741284, "wrist_roll": 2.8625175031645973e-06, "gripper": -0.16594095397591538}, "velocities": {"shoulder_pan": 0.06412556004662143, "shoulder_lift": 0.12353935177256127, "elbow_flex": 0.13850211970668316, "wrist_flex": -0.15675391848417997, "wrist_roll": -1.5912950449421108e-05, "gripper": -0.07891924503578607}, "actuator_forces": {"shoulder_pan": 1.28472261299612, "shoulder_lift": 2.8756221884183333, "elbow_flex": 2.6385373787151707, "wrist_flex": -2.9008113943073113, "wrist_roll": 2.2980696170972134e-07, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.810060738263326, "shoulder_lift": -0.8587904794820227, "elbow_flex": 0.29391595200700976, "wrist_flex": 1.641592244929117, "wrist_roll": 2.894343404063514e-06, "gripper": -0.17064798859378322}, "tcp": {"position_m": [0.137458346820625, -0.10336144354497906, 0.14461901659955473], "quaternion_wxyz": [0.7847874590999824, 0.22045692976326636, 0.4619730274077498, -0.34941137375086395], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9858, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 266, "teleop_active": true, "observed_at": 1792583590.1143498, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13603710432987148, -0.10332221429662847, 0.14337914185360923], "quaternion_wxyz": [0.8961828190022443, -0.06114205566006679, -0.15452564368583668, -0.4113876874656427], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.875055649795021}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.799074184736376}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1967779867465784}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1433968247641129}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.1603554840818004}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.024582970909962}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.479751268394137}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.395834833748773}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.5984162062378}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.523164357820587}], "left_finger_force_n": 30.19924310103385, "right_finger_force_n": 29.9971666662013, "bilateral_contact": true, "supported": false, "lift_m": 0.04325401881334237}, "simulation_time": 21.301999999999072, "positions": {"shoulder_pan": 0.810855570450504, "shoulder_lift": -0.8504891142507849, "elbow_flex": 0.30171882387065807, "wrist_flex": 1.6412407766658663, "wrist_roll": 2.8366009393280616e-06, "gripper": -0.16678047516524072}, "velocities": {"shoulder_pan": 0.0004016564241884728, "shoulder_lift": 0.014827262419063666, "elbow_flex": -0.0057006733579324925, "wrist_flex": 0.007122923772020366, "wrist_roll": 5.480345272085046e-06, "gripper": 0.009920851294005148}, "actuator_forces": {"shoulder_pan": -0.22876699572327652, "shoulder_lift": -2.0685398983647474, "elbow_flex": -2.4139112673919954, "wrist_flex": 0.04860509770173849, "wrist_roll": 3.659283821734385e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.8106521004698302, "shoulder_lift": -0.8523198990493563, "elbow_flex": 0.299547662219307, "wrist_flex": 1.6412784163457281, "wrist_roll": 2.874932249040422e-06, "gripper": -0.1699419922656333}, "tcp": {"position_m": [0.13728002651540736, -0.10360529538222189, 0.14171186497527705], "quaternion_wxyz": [0.7800056399189282, 0.2239295461440177, 0.46900636893065883, -0.34853950416111495], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9859, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 267, "teleop_active": true, "observed_at": 1792583590.1879885, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1361465580821061, -0.10332580131294261, 0.14310590856751074], "quaternion_wxyz": [0.8962695090185665, -0.06117739540862729, -0.15463748949160808, -0.4111514810120095], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.1015946483284536}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.031590851272848}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.7771959015474493}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.7336013371732473}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.22697983232728}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.049123105498012}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.857740917334913}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.783167151898934}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.156563029189876}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.087231447854985}], "left_finger_force_n": 25.92008567614729, "right_finger_force_n": 25.884702546278707, "bilateral_contact": true, "supported": false, "lift_m": 0.04298078552724388}, "simulation_time": 21.401999999999017, "positions": {"shoulder_pan": 0.8103541133776863, "shoulder_lift": -0.8489554474551524, "elbow_flex": 0.30304440399554655, "wrist_flex": 1.640335830425818, "wrist_roll": 2.793244764700933e-06, "gripper": -0.16604491115338513}, "velocities": {"shoulder_pan": 0.002418858771283128, "shoulder_lift": -0.032533814689165795, "elbow_flex": -0.022591616718029214, "wrist_flex": -0.009387314024332015, "wrist_roll": -3.848144546912059e-07, "gripper": -0.014975017342167735}, "actuator_forces": {"shoulder_pan": 0.0354751505508375, "shoulder_lift": 0.7514897675412158, "elbow_flex": 0.3895861534203391, "wrist_flex": -0.23364581204577917, "wrist_roll": 5.0461821239116984e-05, "gripper": -1.5639862613304274}, "applied_targets": {"shoulder_pan": 0.8103922239188489, "shoulder_lift": -0.8483295111015187, "elbow_flex": 0.3033269942143139, "wrist_flex": 1.640113549947927, "wrist_roll": 2.8419677350545362e-06, "gripper": -0.16764798859378321}, "tcp": {"position_m": [0.13738156052230358, -0.10360721108495545, 0.1413434354113405], "quaternion_wxyz": [0.7795796960179774, 0.22415482073590295, 0.4698984972408255, -0.348145826038726], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9860, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 268, "teleop_active": true, "observed_at": 1792583590.3259482, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13613239767585025, -0.10331900123526588, 0.14282065027013646], "quaternion_wxyz": [0.8962771769535156, -0.06116516074418307, -0.15450545212827502, -0.41118622356057927], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.085097774194186}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.0148699574211175}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.798829482079705}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.7539992263776228}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.343957219606254}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.198100790320157}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.8711133316456126}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.795951518537394}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.258681822557364}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.189128372667972}], "left_finger_force_n": 26.194854449999042, "right_finger_force_n": 26.114875045408343, "bilateral_contact": true, "supported": false, "lift_m": 0.042695527229869606}, "simulation_time": 21.50199999999896, "positions": {"shoulder_pan": 0.810389176631657, "shoulder_lift": -0.8480578321268489, "elbow_flex": 0.3040661315235659, "wrist_flex": 1.640203710049242, "wrist_roll": 2.7790416938309613e-06, "gripper": -0.16585813637853053}, "velocities": {"shoulder_pan": -2.3595256121687224e-05, "shoulder_lift": -0.0012165652621021583, "elbow_flex": -0.0005015742404839973, "wrist_flex": 0.0002616916982372744, "wrist_roll": -1.696225706208947e-07, "gripper": -0.00022373439173821927}, "actuator_forces": {"shoulder_pan": -0.0007657773464870843, "shoulder_lift": -0.1505546479078248, "elbow_flex": -0.34892264657634087, "wrist_flex": -0.06895165156061012, "wrist_roll": 2.8082214782417566e-05, "gripper": -1.7864164367459523}, "applied_targets": {"shoulder_pan": 0.8103883892529855, "shoulder_lift": -0.848209776833571, "elbow_flex": 0.30371547040145086, "wrist_flex": 1.6401349236036125, "wrist_roll": 2.806991728386913e-06, "gripper": -0.16764798859378321}, "tcp": {"position_m": [0.13735902601889113, -0.10359180885423558, 0.1410848932983721], "quaternion_wxyz": [0.7791685908080455, 0.22443396979337465, 0.47054962532483496, -0.3480068252314145], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9861, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 270, "teleop_active": true, "observed_at": 1792583590.4367797, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13648965312426287, -0.103781219998842, 0.14109482664817044], "quaternion_wxyz": [0.8967909364627251, -0.05988115817447767, -0.1510220820241186, -0.41154901763349216], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.266180488939418}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.196181745601913}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.004947870567302}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9682452068419874}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.465001154555789}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.3056883004205515}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.68840895566131}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.609295951576116}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.129354668829116}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.060028092683691}], "left_finger_force_n": 27.20624476692696, "right_finger_force_n": 27.487087668750235, "bilateral_contact": true, "supported": false, "lift_m": 0.040969703607903585}, "simulation_time": 21.601999999998906, "positions": {"shoulder_pan": 0.8105561663429478, "shoulder_lift": -0.8399835258212947, "elbow_flex": 0.31063481991518294, "wrist_flex": 1.636568685430331, "wrist_roll": 2.7871006183975522e-06, "gripper": -0.15467078388624492}, "velocities": {"shoulder_pan": -0.08222035525552536, "shoulder_lift": 0.0826058331366819, "elbow_flex": 0.09839945483568172, "wrist_flex": 0.026924838388881243, "wrist_roll": 2.0964043717411226e-05, "gripper": -0.09982993537876717}, "actuator_forces": {"shoulder_pan": -1.620123828859846, "shoulder_lift": 3.011482424568726, "elbow_flex": 2.6669355420916645, "wrist_flex": 0.4501968730353383, "wrist_roll": 1.6907661046601172e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.8090985092228566, "shoulder_lift": -0.8372773142615888, "elbow_flex": 0.3130150904266795, "wrist_flex": 1.6369815724375865, "wrist_roll": 2.745172530962641e-06, "gripper": -0.15917796906253323}, "tcp": {"position_m": [0.13750658021395035, -0.10381579317669772, 0.1392979865486544], "quaternion_wxyz": [0.7765220950478899, 0.22622863353290876, 0.47468384433104, -0.3471444788605647], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9862, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 271, "teleop_active": true, "observed_at": 1792583590.5753229, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13624543535401368, -0.10381429480349738, 0.13818195452598783], "quaternion_wxyz": [0.8972475680907219, -0.058097301325442205, -0.14582232818620713, -0.41268311540011027], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.370445674381166}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.286732869947372}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.8619138950190863}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.7873719201787959}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 8.162849553851498}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 8.142172057771512}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.109316485497563}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.009587197530603}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 11.229706600397495}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 11.146797653261906}], "left_finger_force_n": 36.61148597114943, "right_finger_force_n": 36.49540793668757, "bilateral_contact": true, "supported": false, "lift_m": 0.03805683148572098}, "simulation_time": 21.70199999999885, "positions": {"shoulder_pan": 0.8120136578353772, "shoulder_lift": -0.8288318424937808, "elbow_flex": 0.3206044432828565, "wrist_flex": 1.6328319128582474, "wrist_roll": 2.610831192176622e-06, "gripper": -0.16626772080534732}, "velocities": {"shoulder_pan": -0.04645091261680993, "shoulder_lift": 0.06629233717210968, "elbow_flex": 0.0008974772550118665, "wrist_flex": 0.09386415074505126, "wrist_roll": 4.1705538592619256e-05, "gripper": -0.49316726526002813}, "actuator_forces": {"shoulder_pan": -0.8389681438058005, "shoulder_lift": -2.8538037817423856, "elbow_flex": -2.247858397763025, "wrist_flex": 1.0105936183865651, "wrist_roll": 5.5670233706384825e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.8112501933100769, "shoulder_lift": -0.83130072259144, "elbow_flex": 0.31857462155159294, "wrist_flex": 1.6337574002537962, "wrist_roll": 2.688880678599382e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13739162237068525, -0.10398305839428275, 0.1364754488858813], "quaternion_wxyz": [0.7719618417521394, 0.22938198786746983, 0.4813810501149489, -0.34602182461636943], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9863, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 272, "teleop_active": true, "observed_at": 1792583590.8540351, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1362271008557875, -0.10340919687215977, 0.1375324803489578], "quaternion_wxyz": [0.898123586789925, -0.05657237816945631, -0.1425912858225164, -0.412118082698797], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.3079532984129765}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.23562710221531}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0660602607824643}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.007138318823005}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.2374670553970955}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.111703990408327}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.293937297404181}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.214357778491494}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.26569889913075}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.194067219632874}], "left_finger_force_n": 28.965950026039177, "right_finger_force_n": 28.9680611946593, "bilateral_contact": true, "supported": false, "lift_m": 0.037407357308690936}, "simulation_time": 21.801999999998795, "positions": {"shoulder_pan": 0.8103724805024476, "shoulder_lift": -0.8268243922208789, "elbow_flex": 0.3233259970936427, "wrist_flex": 1.6326478590453104, "wrist_roll": 2.5631971953077986e-06, "gripper": -0.17249216728401998}, "velocities": {"shoulder_pan": 0.000991100904249388, "shoulder_lift": -0.065069990201508, "elbow_flex": -0.04355424455903264, "wrist_flex": -0.016454262528463864, "wrist_roll": 5.427117683392448e-06, "gripper": 0.0007795541901438132}, "actuator_forces": {"shoulder_pan": -0.17572360107897111, "shoulder_lift": 1.0192605381128033, "elbow_flex": 0.6590982071743383, "wrist_flex": -0.2405123635826385, "wrist_roll": 0.0001337042067331394, "gripper": -2.0356595086763605}, "applied_targets": {"shoulder_pan": 0.810216031507882, "shoulder_lift": -0.8259912949227184, "elbow_flex": 0.3238274636691206, "wrist_flex": 1.6324159988900302, "wrist_roll": 2.6955204729711906e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13744910726610882, -0.10368261868653462, 0.13572044857748425], "quaternion_wxyz": [0.7709856752704946, 0.2297859057887591, 0.48358048499849987, -0.3448614802455532], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9864, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 10951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 273, "teleop_active": true, "observed_at": 1792583590.9288564, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13623194035385283, -0.10331926639203906, 0.1358188077791128], "quaternion_wxyz": [0.8992081165854316, -0.05379728470216289, -0.13599394753850683, -0.4123545336945484], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.420913693255411}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.348738583229094}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0745265189594397}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0140838298960355}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.142328906300204}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.028665907972158}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.3816071466115325}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.302917571206497}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.161649974102799}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.090167929962117}], "left_finger_force_n": 29.029257439612344, "right_finger_force_n": 28.936342621882947, "bilateral_contact": true, "supported": false, "lift_m": 0.03569368473884593}, "simulation_time": 21.90199999999874, "positions": {"shoulder_pan": 0.8099579796915485, "shoulder_lift": -0.8201866796312598, "elbow_flex": 0.3293992514452536, "wrist_flex": 1.6305100930808374, "wrist_roll": 2.624580754058713e-06, "gripper": -0.17252475518820826}, "velocities": {"shoulder_pan": 0.0009010174345992096, "shoulder_lift": 0.04516876180301882, "elbow_flex": 0.035753892365940315, "wrist_flex": 0.002060588325111974, "wrist_roll": 3.049964368284206e-07, "gripper": -0.00016274576424040265}, "actuator_forces": {"shoulder_pan": 0.027079423623149523, "shoulder_lift": -0.5711906385207612, "elbow_flex": -0.7393068692991847, "wrist_flex": 0.050662750209994556, "wrist_roll": 3.249331830272118e-05, "gripper": -2.0015057728845704}, "applied_targets": {"shoulder_pan": 0.8099859220774, "shoulder_lift": -0.8206740083689156, "elbow_flex": 0.32872491358881356, "wrist_flex": 1.6305515510339508, "wrist_roll": 2.6576940043636984e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13747330710146533, -0.10362205904552191, 0.13408584879429986], "quaternion_wxyz": [0.7685087821716104, 0.2313117239058226, 0.4875897984278762, -0.34372274666929986], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9865, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 275, "teleop_active": true, "observed_at": 1792583591.1031373, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13633149953906645, -0.10344080633629277, 0.13454213543723764], "quaternion_wxyz": [0.8998214068635925, -0.051983582676279325, -0.13159455546430565, -0.4126766480603367], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.457851124207228}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.3864477607751216}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0626309811784214}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0032254804196556}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.056771405947704}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.91353375041341}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.417448614173021}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.339832880085611}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.126979267855777}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.056261559565664}], "left_finger_force_n": 28.880460502941542, "right_finger_force_n": 28.940522321680074, "bilateral_contact": true, "supported": false, "lift_m": 0.034417012396970786}, "simulation_time": 22.001999999998684, "positions": {"shoulder_pan": 0.8101226311345104, "shoulder_lift": -0.8142590609492074, "elbow_flex": 0.3342021050999441, "wrist_flex": 1.627376303038316, "wrist_roll": 2.5846364669123605e-06, "gripper": -0.1725348019476744}, "velocities": {"shoulder_pan": 0.03392535789121919, "shoulder_lift": 0.09897073739823856, "elbow_flex": 0.10982991376480633, "wrist_flex": -0.0564336726372963, "wrist_roll": -7.976730450060333e-06, "gripper": -5.914940040164299e-05}, "actuator_forces": {"shoulder_pan": 0.7100099588686817, "shoulder_lift": 2.981849823032235, "elbow_flex": 2.663367711854278, "wrist_flex": -1.1592329721995611, "wrist_roll": 6.491134623980328e-07, "gripper": -1.9916005911344428}, "applied_targets": {"shoulder_pan": 0.8107663111454649, "shoulder_lift": -0.8115650214468263, "elbow_flex": 0.33657821523991965, "wrist_flex": 1.6263421792609503, "wrist_roll": 2.6005899278127786e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13758019003597416, -0.10375480692144527, 0.1327892978101451], "quaternion_wxyz": [0.7666081156564628, 0.23252604332740678, 0.49047924627802236, -0.3430360697575268], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9866, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 276, "teleop_active": true, "observed_at": 1792583591.1783853, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1363174182898909, -0.10326307086663206, 0.13071501371713093], "quaternion_wxyz": [0.9018715139355014, -0.04624062435378995, -0.11774141869194966, -0.4130696494968673], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.579918189822612}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.509756655992852}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9671184028864348}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9256189912688914}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.424416706120692}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.31522031853748}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.092206210285083}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.016005177100476}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.751166575742286}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.681678772310211}], "left_finger_force_n": 27.72204926462896, "right_finger_force_n": 27.541056735438055, "bilateral_contact": true, "supported": false, "lift_m": 0.030589890676864073}, "simulation_time": 22.10199999999863, "positions": {"shoulder_pan": 0.8092912265467044, "shoulder_lift": -0.8004531536420144, "elbow_flex": 0.34771783335397893, "wrist_flex": 1.6239945530045699, "wrist_roll": 2.6301016420601807e-06, "gripper": -0.16366289365761932}, "velocities": {"shoulder_pan": 0.017941087360046973, "shoulder_lift": 0.08585617012335003, "elbow_flex": 0.03256228553615591, "wrist_flex": 0.05778615251912682, "wrist_roll": -2.2244770764527105e-05, "gripper": 0.11567654925171952}, "actuator_forces": {"shoulder_pan": 0.4304864411838025, "shoulder_lift": -2.904258968645422, "elbow_flex": -2.8794112181351466, "wrist_flex": 0.5405856995773775, "wrist_roll": -4.688027985495866e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.8096803799008448, "shoulder_lift": -0.8029572939875114, "elbow_flex": 0.34516657262602357, "wrist_flex": 1.6244903463566016, "wrist_roll": 2.573923596668439e-06, "gripper": -0.16764798859378321}, "tcp": {"position_m": [0.13738128440959496, -0.10338023685434392, 0.12904806950048617], "quaternion_wxyz": [0.7606379112559865, 0.23611755464510417, 0.4998207549170397, -0.3403787321539148], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9867, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 277, "teleop_active": true, "observed_at": 1792583591.3237455, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13592424093457967, -0.10317183843040739, 0.13013511507207798], "quaternion_wxyz": [0.9013238233780095, -0.04702655066776505, -0.11900154897611497, -0.41381457234469543], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.167775802180575}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.098765408349414}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8730657407991725}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8188478331072794}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.676543174399554}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.5322982241785885}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.172997599309916}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.099348447818884}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.494081374057243}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.425733656731889}], "left_finger_force_n": 27.167296183014585, "right_finger_force_n": 27.19216107791793, "bilateral_contact": true, "supported": false, "lift_m": 0.030009992031811122}, "simulation_time": 22.201999999998574, "positions": {"shoulder_pan": 0.8108750378410663, "shoulder_lift": -0.7982718954499772, "elbow_flex": 0.3501906595072875, "wrist_flex": 1.623335261285274, "wrist_roll": 2.6255853183309843e-06, "gripper": -0.1728462601084305}, "velocities": {"shoulder_pan": 0.0007047641556054869, "shoulder_lift": -0.07114183717868741, "elbow_flex": -0.05277815302668436, "wrist_flex": -0.019379709383052272, "wrist_roll": -7.5779526364682125e-06, "gripper": 0.11131044540925761}, "actuator_forces": {"shoulder_pan": 0.2467864570068059, "shoulder_lift": 1.0391679387106478, "elbow_flex": 0.7190006557145239, "wrist_flex": -0.23495390867446986, "wrist_roll": -8.59329659794808e-05, "gripper": -1.7677049304753325}, "applied_targets": {"shoulder_pan": 0.8110946453537399, "shoulder_lift": -0.7974282502260722, "elbow_flex": 0.35073629337260753, "wrist_flex": 1.623107297098931, "wrist_roll": 2.538639914976033e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13712932766078406, -0.103450626780399, 0.12833637010202742], "quaternion_wxyz": [0.7591655410368524, 0.23725406855776793, 0.5014144516656683, -0.3405315490755973], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9868, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 278, "teleop_active": true, "observed_at": 1792583591.3989012, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13584076043373622, -0.10314529228635601, 0.1297756524790882], "quaternion_wxyz": [0.9015184876262424, -0.04619434899023634, -0.11700891049459364, -0.4140524283883971], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.503968358001553}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.43150301911914}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.067670611249336}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0073555130515768}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.031253531228108}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.903672838946322}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.433868505370711}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.355444768872284}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.083572219299354}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.011802733242817}], "left_finger_force_n": 28.945423871596038, "right_finger_force_n": 28.884688226785165, "bilateral_contact": true, "supported": false, "lift_m": 0.02965052943882135}, "simulation_time": 22.301999999998518, "positions": {"shoulder_pan": 0.8111411427282553, "shoulder_lift": -0.7971483867031496, "elbow_flex": 0.3514709789320409, "wrist_flex": 1.6232163113289189, "wrist_roll": 2.5056392391740224e-06, "gripper": -0.17253392939774656}, "velocities": {"shoulder_pan": 0.00028162840446389957, "shoulder_lift": -0.0014235409313608652, "elbow_flex": -0.0006420374622444487, "wrist_flex": 7.001098321439352e-05, "wrist_roll": -7.186722616253023e-09, "gripper": -4.5924882960798446e-05}, "actuator_forces": {"shoulder_pan": 0.009238180218289926, "shoulder_lift": -0.14949098992678955, "elbow_flex": -0.3558308226497502, "wrist_flex": -0.06020273276521948, "wrist_roll": 2.4106152340035852e-05, "gripper": -1.9925573390378588}, "applied_targets": {"shoulder_pan": 0.811150636108831, "shoulder_lift": -0.7972998825646748, "elbow_flex": 0.35111321777628296, "wrist_flex": 1.6231561025969776, "wrist_roll": 2.5297476311303175e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13705534679304873, -0.1034280496280888, 0.12803060594811028], "quaternion_wxyz": [0.7586017347519272, 0.23763711703956047, 0.5021531472574667, -0.3404324093500987], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9869, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 280, "teleop_active": true, "observed_at": 1792583591.7817872, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13615094239836403, -0.10311753144948979, 0.12679828533376966], "quaternion_wxyz": [0.9028588713789389, -0.042782000720476866, -0.10880371789862815, -0.41373579704702523], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.50473785731712}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.432395167606504}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0629220395845898}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0027521310522802}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.010155302727702}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.889985623534415}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.44600050931484}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.367762498359954}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.083619559414727}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.011971544783854}], "left_finger_force_n": 28.90294812182261, "right_finger_force_n": 28.909354111873377, "bilateral_contact": true, "supported": false, "lift_m": 0.026673162293502806}, "simulation_time": 22.401999999998463, "positions": {"shoulder_pan": 0.8094719326410325, "shoulder_lift": -0.7837163168615395, "elbow_flex": 0.3621331145463194, "wrist_flex": 1.6166493875601895, "wrist_roll": 2.445789153881174e-06, "gripper": -0.17253005951731865}, "velocities": {"shoulder_pan": 0.025491236877462152, "shoulder_lift": 0.022571948131847222, "elbow_flex": 0.0847400361020581, "wrist_flex": -0.08089357499017055, "wrist_roll": -5.338672972027152e-06, "gripper": -7.43951436507181e-05}, "actuator_forces": {"shoulder_pan": 0.4680705920703758, "shoulder_lift": 2.410204895940524, "elbow_flex": 2.3666608494822867, "wrist_flex": -1.5659518773247783, "wrist_roll": 1.4228080381429621e-06, "gripper": -1.996478936317203}, "applied_targets": {"shoulder_pan": 0.809901997169845, "shoulder_lift": -0.7815866461104399, "elbow_flex": 0.36422298163077954, "wrist_flex": 1.6152519756556587, "wrist_roll": 2.456466499825166e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13734488722309263, -0.1033763281710785, 0.1250518605334041], "quaternion_wxyz": [0.7543378354501887, 0.23994722400181345, 0.5090601073584345, -0.3380200686325689], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9870, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 281, "teleop_active": true, "observed_at": 1792583591.8574445, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13608353066413295, -0.10309922934583403, 0.12363925637962772], "quaternion_wxyz": [0.9038071490197052, -0.03914953013927581, -0.09972069986029576, -0.41431356928070634], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.556327377405308}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.483690137658112}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0674937896605567}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.006824349687834}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.97859910014822}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.911537241394502}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.475697567081912}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.397443215821123}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.032856261831578}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.960916525598777}], "left_finger_force_n": 29.004471995954532, "right_finger_force_n": 28.866913570333388, "bilateral_contact": true, "supported": false, "lift_m": 0.023514133339360865}, "simulation_time": 22.501999999998407, "positions": {"shoulder_pan": 0.8096919044685338, "shoulder_lift": -0.7707745208488962, "elbow_flex": 0.3732082224462559, "wrist_flex": 1.611288825242825, "wrist_roll": 2.446642424226768e-06, "gripper": -0.17254298685909267}, "velocities": {"shoulder_pan": -0.0038083982577754205, "shoulder_lift": 0.07748224825668992, "elbow_flex": 0.011809384772090065, "wrist_flex": 0.09472323457881572, "wrist_roll": -2.2723140168282947e-06, "gripper": 5.15419812217992e-05}, "actuator_forces": {"shoulder_pan": 0.030058417621830813, "shoulder_lift": -2.9705631619715405, "elbow_flex": -2.5363450633076923, "wrist_flex": 0.9518524022325892, "wrist_roll": -1.406414320874504e-05, "gripper": -1.9834988073340298}, "applied_targets": {"shoulder_pan": 0.8097169238208957, "shoulder_lift": -0.7733386625604851, "elbow_flex": 0.37093635891388177, "wrist_flex": 1.612164745519134, "wrist_roll": 2.432528088588992e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13725452281644993, -0.10333913582477804, 0.12197115996915033], "quaternion_wxyz": [0.7494456801308446, 0.24287798626426338, 0.516021364586931, -0.33624902618635755], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9871, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 282, "teleop_active": true, "observed_at": 1792583591.9311793, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13600267773905433, -0.10303903563979258, 0.1229837311946613], "quaternion_wxyz": [0.9040029235658456, -0.038292866227518596, -0.09760219812865512, -0.4144709658117674], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.548387176710876}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.476037737777028}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0489003298808488}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.991341393794332}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.929873442548414}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.78362738059121}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.433754262335761}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.355665273562743}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.04277494144685}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.971120242402577}], "left_finger_force_n": 28.778167461302708, "right_finger_force_n": 28.80331471974793, "bilateral_contact": true, "supported": false, "lift_m": 0.022858608154394444}, "simulation_time": 22.601999999998352, "positions": {"shoulder_pan": 0.8098147067045025, "shoulder_lift": -0.7681414383712248, "elbow_flex": 0.376011290495388, "wrist_flex": 1.6101013812656058, "wrist_roll": 2.3784205927796855e-06, "gripper": -0.1725440721809347}, "velocities": {"shoulder_pan": 0.00038288158220415604, "shoulder_lift": -0.07998410415975807, "elbow_flex": -0.05537195552864075, "wrist_flex": -0.034004943323936485, "wrist_roll": 1.3616129034455515e-07, "gripper": -0.0001638850004295058}, "actuator_forces": {"shoulder_pan": -0.005564266049532307, "shoulder_lift": 1.1309622283372391, "elbow_flex": 0.6971192726841196, "wrist_flex": -0.3286670610270903, "wrist_roll": 2.807356477852385e-05, "gripper": -1.982315478321766}, "applied_targets": {"shoulder_pan": 0.8098096383486001, "shoulder_lift": -0.7672284753960533, "elbow_flex": 0.3765365433540762, "wrist_flex": 1.6097828808525063, "wrist_roll": 2.4053667431015076e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13715715589302313, -0.10326057058284145, 0.12118413509626119], "quaternion_wxyz": [0.7481065781750449, 0.2436768311999639, 0.5178898320618158, -0.33578009392242636], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9872, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 283, "teleop_active": true, "observed_at": 1792583592.070289, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1360578087080583, -0.10301837944678927, 0.1213147146538753], "quaternion_wxyz": [0.9045397492567329, -0.03644101095235361, -0.09304506788067135, -0.41451478873306574], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.560370036447432}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.4876437699106795}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0631520887474213}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0028265021430383}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.957651909435756}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.8525329181914385}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.474167622133099}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.395882820586178}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.030255424653497}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.958227516516304}], "left_finger_force_n": 28.924177224875766, "right_finger_force_n": 28.85853338388908, "bilateral_contact": true, "supported": false, "lift_m": 0.02118959161360845}, "simulation_time": 22.701999999998296, "positions": {"shoulder_pan": 0.8094419241646092, "shoulder_lift": -0.7607963924774621, "elbow_flex": 0.3819598148252531, "wrist_flex": 1.6064874763410601, "wrist_roll": 2.3546463399945682e-06, "gripper": -0.17254671616569453}, "velocities": {"shoulder_pan": -0.0001422113935203651, "shoulder_lift": 0.04573710569613021, "elbow_flex": 0.03690799666797376, "wrist_flex": 0.011904733354035106, "wrist_roll": 1.3103392104897582e-06, "gripper": -3.1099223880204846e-06}, "actuator_forces": {"shoulder_pan": -0.04979724863108004, "shoulder_lift": -0.6374294302283943, "elbow_flex": -0.7167021341147688, "wrist_flex": 0.11674329007109918, "wrist_roll": 2.8780147809079597e-05, "gripper": -1.9797158684856129}, "applied_targets": {"shoulder_pan": 0.8093925140191205, "shoulder_lift": -0.7613435052020058, "elbow_flex": 0.38130481131847827, "wrist_flex": 1.6065950350228184, "wrist_roll": 2.385071979219492e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13721851034320165, -0.1032481220010679, 0.11958253028663346], "quaternion_wxyz": [0.7457191923877333, 0.24499675058466566, 0.5214034172920613, -0.33469083456781695], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9873, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 285, "teleop_active": true, "observed_at": 1792583592.1800828, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13586909856258172, -0.10295797712364808, 0.1198659206608782], "quaternion_wxyz": [0.904803975359302, -0.03478491661172046, -0.08882364906893492, -0.41500618684110885], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.552942926869873}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.480218360365191}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0561760787283234}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9966837414965074}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.940194825027092}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.822129673379487}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.469546484448475}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.391229932591091}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.038361274862371}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.9663350504325905}], "left_finger_force_n": 28.848345605866474, "right_finger_force_n": 28.86547274233453, "bilateral_contact": true, "supported": false, "lift_m": 0.019740797620611344}, "simulation_time": 22.80199999999824, "positions": {"shoulder_pan": 0.8100407100691812, "shoulder_lift": -0.7548708245702679, "elbow_flex": 0.38756821280220044, "wrist_flex": 1.6040990653399696, "wrist_roll": 2.3619241347513596e-06, "gripper": -0.17254725440584842}, "velocities": {"shoulder_pan": -0.03816783732568679, "shoulder_lift": 0.09947455224663053, "elbow_flex": 0.10924471490789261, "wrist_flex": -0.09556140216177776, "wrist_roll": 9.871345710081607e-06, "gripper": 1.0420637792339484e-05}, "actuator_forces": {"shoulder_pan": -0.8011197449410474, "shoulder_lift": 2.955703759574476, "elbow_flex": 2.6907652115124847, "wrist_flex": -1.829809130367721, "wrist_roll": 6.180666151027296e-07, "gripper": -1.9792339163407462}, "applied_targets": {"shoulder_pan": 0.8093170570681559, "shoulder_lift": -0.7522060667570248, "elbow_flex": 0.3899624904784525, "wrist_flex": 1.6024686288981844, "wrist_roll": 2.342181443331198e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13701478102697687, -0.1031736641941327, 0.11810469520875787], "quaternion_wxyz": [0.7431529014400639, 0.24657817905538748, 0.5247612257338611, -0.33398895589710603], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9874, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 286, "teleop_active": true, "observed_at": 1792583592.3192644, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.135805614665768, -0.10261295019003727, 0.11643257205174817], "quaternion_wxyz": [0.9059312464849908, -0.030889604725785943, -0.07925450767397195, -0.414792878404864], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.579517765662874}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.507398194914347}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0615138107037774}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0017697916482047}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.935485281278918}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.8756001949698}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.4915943208632525}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.414046715506671}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.010494855655386}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.939067817473199}], "left_finger_force_n": 28.96128503917792, "right_finger_force_n": 28.855203709498507, "bilateral_contact": true, "supported": false, "lift_m": 0.016307449011481318}, "simulation_time": 22.901999999998186, "positions": {"shoulder_pan": 0.8087919995589989, "shoulder_lift": -0.7411010421648142, "elbow_flex": 0.3996679411117338, "wrist_flex": 1.5984477106582922, "wrist_roll": 2.3439689825154067e-06, "gripper": -0.1725473783138368}, "velocities": {"shoulder_pan": -0.0019117947048459547, "shoulder_lift": 0.04742743747959542, "elbow_flex": 0.002854091284588009, "wrist_flex": 0.0951617743912472, "wrist_roll": -6.1783512211221514e-06, "gripper": 7.565169729734076e-05}, "actuator_forces": {"shoulder_pan": 0.15700133983148135, "shoulder_lift": -2.7418879511182013, "elbow_flex": -2.2690729130074487, "wrist_flex": 0.985794103195758, "wrist_roll": -2.6665835433677468e-05, "gripper": -1.979127394475114}, "applied_targets": {"shoulder_pan": 0.8089314954377165, "shoulder_lift": -0.7434883191004471, "elbow_flex": 0.39762274372203765, "wrist_flex": 1.599354348527416, "wrist_roll": 2.3161813413311873e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13692369015161426, -0.10280564245776004, 0.11474591932739496], "quaternion_wxyz": [0.7378889244467541, 0.2493181334777499, 0.5324999042961713, -0.3313672515843274], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9875, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 287, "teleop_active": true, "observed_at": 1792583592.3936255, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1358132153629011, -0.10241534305619422, 0.11552993803603838], "quaternion_wxyz": [0.9063879308717742, -0.029643159861332657, -0.07632125135148231, -0.41443608486178485], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.418500407544386}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.345836938067464}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9305097346316732}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8786316629045076}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.594534398592734}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.463598101294432}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.246552501631799}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.168955163402467}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.6668089112681335}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.594843197178176}], "left_finger_force_n": 27.631611243035195, "right_finger_force_n": 27.677159773480575, "bilateral_contact": true, "supported": false, "lift_m": 0.015404814995771524}, "simulation_time": 23.00199999999813, "positions": {"shoulder_pan": 0.8077185868350389, "shoulder_lift": -0.7375449525974838, "elbow_flex": 0.4033947726240655, "wrist_flex": 1.596937550775167, "wrist_roll": 2.143953923523085e-06, "gripper": -0.17050956606370263}, "velocities": {"shoulder_pan": -0.0028645375908718743, "shoulder_lift": -0.10546645262039954, "elbow_flex": -0.0745859392277715, "wrist_flex": -0.0422938152423674, "wrist_roll": 7.763978454515842e-06, "gripper": -0.015280782544632521}, "actuator_forces": {"shoulder_pan": -0.24637031598706471, "shoulder_lift": 1.2058062415200084, "elbow_flex": 0.8000340252083902, "wrist_flex": -0.3579284931422535, "wrist_roll": 0.00015355183342108565, "gripper": -1.6859154593530548}, "applied_targets": {"shoulder_pan": 0.8074981751589316, "shoulder_lift": -0.7365893151795602, "elbow_flex": 0.40399406141142796, "wrist_flex": 1.5965892237490027, "wrist_roll": 2.295685666826643e-06, "gripper": -0.17223599613281665}, "tcp": {"position_m": [0.13687882441247187, -0.10253843322036547, 0.11371864916792031], "quaternion_wxyz": [0.7362787833723358, 0.25002299775140174, 0.5350689195171393, -0.33027761825154955], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9876, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 288, "teleop_active": true, "observed_at": 1792583592.671195, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13524187716782818, -0.10256126084572792, 0.11356160758228015], "quaternion_wxyz": [0.9059872655571354, -0.027949375714475515, -0.0715450537973884, -0.41627780666593917], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.545270908999092}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.47166054973361}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0750462534295455}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.012912732757245}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.008505497630448}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.936602850395528}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.4885322612612875}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.409235126184932}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.080018235129797}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.00711472381809}], "left_finger_force_n": 29.04999879294547, "right_finger_force_n": 28.984900346394106, "bilateral_contact": true, "supported": false, "lift_m": 0.013436484542013294}, "simulation_time": 23.101999999998075, "positions": {"shoulder_pan": 0.8113889905806964, "shoulder_lift": -0.7293790313671028, "elbow_flex": 0.4106279675485338, "wrist_flex": 1.5935439006539442, "wrist_roll": 2.2875926928637103e-06, "gripper": -0.17251485231905375}, "velocities": {"shoulder_pan": -0.0002462883018037182, "shoulder_lift": 0.05977479625721771, "elbow_flex": 0.04888891122930353, "wrist_flex": 0.0143077598911821, "wrist_roll": 2.6831159622537735e-06, "gripper": -0.009540852365914914}, "actuator_forces": {"shoulder_pan": -0.2531604545039272, "shoulder_lift": -0.6870287024454456, "elbow_flex": -0.794276671329385, "wrist_flex": 0.11194233652759067, "wrist_roll": -2.8625829456128352e-05, "gripper": -1.9998238897124168}, "applied_targets": {"shoulder_pan": 0.8111642489677043, "shoulder_lift": -0.7299601834784136, "elbow_flex": 0.4099149534914197, "wrist_flex": 1.5936499326445819, "wrist_roll": 2.255363989623761e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1363436138090641, -0.10272988545742003, 0.11182660328267877], "quaternion_wxyz": [0.7325483317561335, 0.252725812140667, 0.5388274504256985, -0.33040518184024775], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9877, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 290, "teleop_active": true, "observed_at": 1792583592.8474057, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13512584605217673, -0.10230176526170784, 0.11204250527380469], "quaternion_wxyz": [0.9064390910911501, -0.026206124090038193, -0.06726124175134349, -0.4161217833280229], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.5407011537475865}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.469037496828896}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0682297951652175}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0084960118579376}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.9979950453962}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.913907803963802}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.454565599463748}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.37721307734804}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.051133195760203}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.980157693467556}], "left_finger_force_n": 28.99836730695964, "right_finger_force_n": 28.86306956603955, "bilateral_contact": true, "supported": false, "lift_m": 0.011917382233537832}, "simulation_time": 23.20199999999802, "positions": {"shoulder_pan": 0.8108847758648665, "shoulder_lift": -0.7231345819290298, "elbow_flex": 0.41654488972122683, "wrist_flex": 1.5908269423373005, "wrist_roll": 2.2531784860339067e-06, "gripper": -0.17251879644551538}, "velocities": {"shoulder_pan": 0.06273547157765298, "shoulder_lift": 0.0975228513287967, "elbow_flex": 0.10988191363339861, "wrist_flex": -0.16600493999950114, "wrist_roll": -1.5697295546327082e-05, "gripper": -0.0006132710305494123}, "actuator_forces": {"shoulder_pan": 1.2988996435102536, "shoulder_lift": 2.9455157171801147, "elbow_flex": 2.694458231087424, "wrist_flex": -3.1062424812514564, "wrist_roll": -1.0716746609920613e-06, "gripper": -2.007273222724365}, "applied_targets": {"shoulder_pan": 0.8120581490276181, "shoulder_lift": -0.7204817400781383, "elbow_flex": 0.41893477186961214, "wrist_flex": 1.5880596777755576, "wrist_roll": 2.284573077126285e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13620364431819318, -0.10245307445859156, 0.11027550819357004], "quaternion_wxyz": [0.7299810602823233, 0.25401134071162723, 0.5424751873676967, -0.32913000700233713], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9878, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 291, "teleop_active": true, "observed_at": 1792583592.92156, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13499566373035174, -0.10202917448331157, 0.10864546762084326], "quaternion_wxyz": [0.9071670064302657, -0.02259128246477759, -0.058272577119006894, -0.4161033082743456], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.516174515833869}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.446364077918182}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0663938060010174}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0055796697918151}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.998342954863485}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.984064544453858}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.495422940410106}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.4202082703163255}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.003465680089654}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.934325601151773}], "left_finger_force_n": 29.016919568862228, "right_finger_force_n": 28.85342249196786, "bilateral_contact": true, "supported": false, "lift_m": 0.008520344580576406}, "simulation_time": 23.301999999997964, "positions": {"shoulder_pan": 0.8102269122898607, "shoulder_lift": -0.7088287138695653, "elbow_flex": 0.42851599537254625, "wrist_flex": 1.5837914032710756, "wrist_roll": 2.35239741546563e-06, "gripper": -0.17265617992006754}, "velocities": {"shoulder_pan": 0.024894121060105908, "shoulder_lift": 0.09186828579111267, "elbow_flex": 0.026864820118607594, "wrist_flex": 0.10171833307974268, "wrist_roll": -2.8185574964150193e-05, "gripper": -0.006200521152546264}, "actuator_forces": {"shoulder_pan": 0.5532241213959423, "shoulder_lift": -3.15530825928397, "elbow_flex": -2.8084243029520053, "wrist_flex": 1.0102137340838908, "wrist_roll": -6.098007104629599e-05, "gripper": -1.8516707753903745}, "applied_targets": {"shoulder_pan": 0.8107280059894397, "shoulder_lift": -0.7115439035271641, "elbow_flex": 0.42601922801168673, "wrist_flex": 1.584721600498471, "wrist_roll": 2.2795285988818326e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13606416179369504, -0.1021871398657297, 0.10697599818012067], "quaternion_wxyz": [0.7247767805810432, 0.25669461509104563, 0.5495264382802072, -0.3268442848588713], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9879, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 292, "teleop_active": true, "observed_at": 1792583593.0601864, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13492076251891016, -0.1022101223543715, 0.10826115912105319], "quaternion_wxyz": [0.9069460011188458, -0.022331165043718487, -0.05752084548674981, -0.41670327867298224], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.5015920224849815}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.430862421413352}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0587083875871715}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.999540921610173}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.996801027863314}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.9050682476983445}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.461618978613644}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.385187651692903}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.067382381476381}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.997331965702696}], "left_finger_force_n": 28.892573028657335, "right_finger_force_n": 28.911520977485626, "bilateral_contact": true, "supported": false, "lift_m": 0.008136036080786335}, "simulation_time": 23.40199999999791, "positions": {"shoulder_pan": 0.8113951202101161, "shoulder_lift": -0.7066354866460027, "elbow_flex": 0.4302447481819163, "wrist_flex": 1.5816815367451285, "wrist_roll": 2.3044855221836384e-06, "gripper": -0.17255991301009374}, "velocities": {"shoulder_pan": -0.00734476744154365, "shoulder_lift": -0.05627620974496072, "elbow_flex": -0.03737329556952948, "wrist_flex": -0.04583381960554932, "wrist_roll": -3.0219193441544096e-06, "gripper": 0.004449285328502889}, "actuator_forces": {"shoulder_pan": 0.13873778541949378, "shoulder_lift": 1.0200832111287355, "elbow_flex": 0.4851664760992094, "wrist_flex": -0.44430986378483794, "wrist_roll": -5.988774178752876e-05, "gripper": -1.97181173414441}, "applied_targets": {"shoulder_pan": 0.8115158860482209, "shoulder_lift": -0.7058069159370978, "elbow_flex": 0.43059949948230736, "wrist_flex": 1.5812567677986287, "wrist_roll": 2.245018026410873e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13597042799889567, -0.10234094423300209, 0.10646076932551389], "quaternion_wxyz": [0.7238597688428344, 0.25741310789788396, 0.5502997183405466, -0.3270103162401227], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9880, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 293, "teleop_active": true, "observed_at": 1792583593.1354063, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13499339136914199, -0.10212066058652561, 0.10669716430151817], "quaternion_wxyz": [0.9073486994065729, -0.020693566405803353, -0.053520840373164826, -0.4164440342235166], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.523115810605185}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.451570063285145}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.066052541899789}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0055559263475071}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.998289155472691}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.942700223879108}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.484207317716728}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.407054226745293}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.06183031728111}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.99097159235302}], "left_finger_force_n": 28.987283721489426, "right_finger_force_n": 28.944063454096153, "bilateral_contact": true, "supported": false, "lift_m": 0.006572041261251313}, "simulation_time": 23.501999999997853, "positions": {"shoulder_pan": 0.8105746258191475, "shoulder_lift": -0.6994209836194816, "elbow_flex": 0.43580100282284323, "wrist_flex": 1.5774619228087527, "wrist_roll": 2.2106056218482603e-06, "gripper": -0.17252152362129927}, "velocities": {"shoulder_pan": -0.00489250217436968, "shoulder_lift": 0.03961111909404895, "elbow_flex": 0.033799201710788186, "wrist_flex": 0.014653709551337305, "wrist_roll": 1.3428131170957373e-06, "gripper": 0.0005300844962878204}, "actuator_forces": {"shoulder_pan": 0.007942641093222846, "shoulder_lift": -0.6572006813768212, "elbow_flex": -0.7011950360274568, "wrist_flex": 0.14879328594520302, "wrist_roll": 1.8690719370333727e-05, "gripper": -2.0058314967362207}, "applied_targets": {"shoulder_pan": 0.8105762877095751, "shoulder_lift": -0.6999928855861043, "elbow_flex": 0.4351567949208982, "wrist_flex": 1.5776007955399773, "wrist_roll": 2.2319325422946754e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1360397930352197, -0.10224487991015432, 0.10495111695061894], "quaternion_wxyz": [0.7216989558965182, 0.25839646119730947, 0.5533793055295405, -0.32581164821139413], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9881, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 295, "teleop_active": true, "observed_at": 1792583593.3104334, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13467787109319398, -0.10206022104917398, 0.1054247520707039], "quaternion_wxyz": [0.9072619836430273, -0.01932915025418191, -0.04999861185608187, -0.41713572826963224], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.530257561662019}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.458537168975661}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0680367822630745}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0082143071606287}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.0054457720051815}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.9407917297849036}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.461666849887087}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.384260552966766}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.062471767149189}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.991440073897527}], "left_finger_force_n": 29.01128332185147, "right_finger_force_n": 28.89983924390057, "bilateral_contact": true, "supported": false, "lift_m": 0.005299629030437042}, "simulation_time": 23.601999999997798, "positions": {"shoulder_pan": 0.8118992649506471, "shoulder_lift": -0.6940592129385518, "elbow_flex": 0.4408718312001996, "wrist_flex": 1.574863756121981, "wrist_roll": 2.208723541307307e-06, "gripper": -0.172505192027359}, "velocities": {"shoulder_pan": -0.0056390331284001975, "shoulder_lift": 0.10606489016341686, "elbow_flex": 0.115964578297331, "wrist_flex": -0.1657085711235402, "wrist_roll": 1.0023970096920843e-06, "gripper": -0.001047324727473936}, "actuator_forces": {"shoulder_pan": -0.11468540288910845, "shoulder_lift": 2.9181634866822606, "elbow_flex": 2.6785627232014235, "wrist_flex": -3.0853693842987013, "wrist_roll": -1.0183236736744337e-06, "gripper": -2.020496492017486}, "applied_targets": {"shoulder_pan": 0.8117899132628542, "shoulder_lift": -0.6914273278871093, "elbow_flex": 0.44325285441231516, "wrist_flex": 1.572116094918435, "wrist_roll": 2.20671874728783e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1357066059189806, -0.10216542367881995, 0.10365377438735073], "quaternion_wxyz": [0.7192324389064586, 0.25994199307964594, 0.5560989811655047, -0.3254055657255041], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9882, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 296, "teleop_active": true, "observed_at": 1792583593.5888574, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13463256025239326, -0.10161377194788651, 0.10226328544606127], "quaternion_wxyz": [0.9080394327824175, -0.016202045223737863, -0.04225488271162624, -0.41643295634445326], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.111496555880475}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.043044053769181}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.577674664040876}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.5036677988562885}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 7.118090345654126}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.594282771393637}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.518526177278004}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.582141791542858}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.5143466087481885}], "left_finger_force_n": 26.353973418200948, "right_finger_force_n": 26.209297348962686, "bilateral_contact": true, "supported": false, "lift_m": 0.002138162405794411}, "simulation_time": 23.701999999997742, "positions": {"shoulder_pan": 0.8100697245862748, "shoulder_lift": -0.6805384654285365, "elbow_flex": 0.451958612268906, "wrist_flex": 1.5676733542719625, "wrist_roll": 2.2613012126026915e-06, "gripper": -0.17271964633033213}, "velocities": {"shoulder_pan": 0.01973207743309279, "shoulder_lift": 0.04362507208463058, "elbow_flex": 0.010044822090529967, "wrist_flex": 0.0862002346350596, "wrist_roll": -2.5076121561629695e-05, "gripper": -0.017330618767086085}, "actuator_forces": {"shoulder_pan": 0.5068251807711022, "shoulder_lift": -2.792276359797256, "elbow_flex": -2.574102385480785, "wrist_flex": 0.8210768163530702, "wrist_roll": -6.292788205360892e-05, "gripper": -1.7861756495163377}, "applied_targets": {"shoulder_pan": 0.810527314891649, "shoulder_lift": -0.6829762005309752, "elbow_flex": 0.44965448337907804, "wrist_flex": 1.5684321486224329, "wrist_roll": 2.1882216138691024e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13566357498741688, -0.10173626966257333, 0.10057454894446624], "quaternion_wxyz": [0.714582294955023, 0.26197334081437545, 0.5626299098701372, -0.3227842885874222], "frame": "world"}, "contact_count": 9, "warning_count": 0}
{"cursor": 9883, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 297, "teleop_active": true, "observed_at": 1792583593.6627474, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13464339385184507, -0.10173038735740425, 0.10275557324563454], "quaternion_wxyz": [0.9078952357157951, -0.01654198168880768, -0.0431524472419, -0.4166418967211583], "contacts": [{"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.518486288302416}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.44711661716577}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0591765453905309}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0001082859451256}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.9873792729800215}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.934917285437762}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.46763837327134}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.390595421472719}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.069834112179016}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.9991497726520535}], "left_finger_force_n": 28.947184295221625, "right_finger_force_n": 28.92721767957513, "bilateral_contact": true, "supported": false, "lift_m": 0.0026304502053676876}, "simulation_time": 23.801999999997687, "positions": {"shoulder_pan": 0.8104745386601879, "shoulder_lift": -0.6825620615341492, "elbow_flex": 0.4504599523479904, "wrist_flex": 1.5685547505584245, "wrist_roll": 2.1514579916314718e-06, "gripper": -0.17252817444437973}, "velocities": {"shoulder_pan": -0.00017318689978888487, "shoulder_lift": -0.0052036143652836025, "elbow_flex": -0.006958547990769691, "wrist_flex": -0.00015786901246789408, "wrist_roll": -2.307925414506588e-07, "gripper": -0.0004780206552969904}, "actuator_forces": {"shoulder_pan": -0.007631668941598946, "shoulder_lift": -0.2511248513718556, "elbow_flex": -0.40431928993166366, "wrist_flex": -0.04485379482730423, "wrist_roll": 1.0049182647373176e-05, "gripper": -1.9978048580207997}, "applied_targets": {"shoulder_pan": 0.8104667717854981, "shoulder_lift": -0.6828166455171192, "elbow_flex": 0.4500463595387045, "wrist_flex": 1.5685097808862702, "wrist_roll": 2.161263368530611e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13564747087658316, -0.10180994929270833, 0.10098910885088627], "quaternion_wxyz": [0.7151848072828518, 0.26175344297224956, 0.5617226169825916, -0.3232081807352518], "frame": "world"}, "contact_count": 10, "warning_count": 0}
{"cursor": 9884, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 11951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 298, "teleop_active": true, "observed_at": 1792583593.802186, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13418468998382066, -0.10135222976786305, 0.10032058639486892], "quaternion_wxyz": [0.9080497280375625, -0.014148022547629865, -0.03697096916638498, -0.41698761649214167], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.8028445478064076}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.6639082840493831}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.324812551805257}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.254406083656577}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0254061065559632}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9661534324689606}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.008348290803803}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.980905454908139}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.531573458879924}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.454972850520144}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.24738315701019}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.177652771255897}], "left_finger_force_n": 28.5600319201987, "right_finger_force_n": 29.411582237666156, "bilateral_contact": true, "supported": true, "lift_m": 0.00019546335460206288}, "simulation_time": 23.90199999999763, "positions": {"shoulder_pan": 0.8110050537589883, "shoulder_lift": -0.6724163220648401, "elbow_flex": 0.459712203219266, "wrist_flex": 1.5641280003463685, "wrist_roll": 2.32062502541363e-06, "gripper": -0.17247918648775132}, "velocities": {"shoulder_pan": 0.0010059954569309637, "shoulder_lift": 0.09913070980104129, "elbow_flex": 0.02697742332227771, "wrist_flex": -0.047893361687224856, "wrist_roll": -7.662622842701554e-05, "gripper": 0.0014770834825569774}, "actuator_forces": {"shoulder_pan": 0.07846574187749411, "shoulder_lift": -0.29907843954265445, "elbow_flex": -0.07009320907320671, "wrist_flex": 0.3624189320496498, "wrist_roll": -0.00012620132170895314, "gripper": -2.049692731621036}, "applied_targets": {"shoulder_pan": 0.811084136082126, "shoulder_lift": -0.6725899329644422, "elbow_flex": 0.4596682731680756, "wrist_flex": 1.5644229464086419, "wrist_roll": 2.148170475504874e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.135174399330297, -0.10141974361981604, 0.09856374002802154], "quaternion_wxyz": [0.7108150342956348, 0.26408109240250843, 0.567014316895573, -0.3217109387171038], "frame": "world"}, "contact_count": 12, "warning_count": 0}
{"cursor": 9885, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 300, "teleop_active": true, "observed_at": 1792583593.913094, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1341592780260465, -0.10133314637817653, 0.10022830006819174], "quaternion_wxyz": [0.9080811284172291, -0.013888247028885123, -0.03633122239329689, -0.4169842000440375], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 5.107898553628793}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 4.684061829650392}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.490852780972176}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.301351264533855}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2528517109951363}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2260070934108573}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.066133222757802}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.018747785658207}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.467045702414772}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.276117401169434}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.276017273844496}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.088335457248286}], "left_finger_force_n": 31.355943858328033, "right_finger_force_n": 27.107515834676988, "bilateral_contact": true, "supported": true, "lift_m": 0.0001031770279248806}, "simulation_time": 24.001999999997576, "positions": {"shoulder_pan": 0.8110785821288518, "shoulder_lift": -0.6720698583254852, "elbow_flex": 0.4603576793895862, "wrist_flex": 1.563946745983941, "wrist_roll": -6.149272749696754e-06, "gripper": -0.1725318091897676}, "velocities": {"shoulder_pan": 0.025199138739045893, "shoulder_lift": 0.09535938512429062, "elbow_flex": 0.10678788467589664, "wrist_flex": -0.1286707755267305, "wrist_roll": -0.004072234455418821, "gripper": -0.0012203033413386436}, "actuator_forces": {"shoulder_pan": 1.6686459285896262, "shoulder_lift": 2.880549001143777, "elbow_flex": 2.766184083858377, "wrist_flex": -2.960590726002465, "wrist_roll": -2.3471572867879605e-06, "gripper": -1.996731796744342}, "applied_targets": {"shoulder_pan": 0.8126996227144893, "shoulder_lift": -0.6693769233324809, "elbow_flex": 0.46291482343610535, "wrist_flex": 1.5612389900076284, "wrist_roll": 1.9951961611411245e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13512821215915377, -0.10137622682373654, 0.09844892013654352], "quaternion_wxyz": [0.7105722024690108, 0.2642088292157809, 0.567307286787316, -0.32162599708478057], "frame": "world"}, "contact_count": 12, "warning_count": 0}
{"cursor": 9886, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 301, "teleop_active": true, "observed_at": 1792583594.0551124, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13436130421544698, -0.10179235586494664, 0.09831865315282648], "quaternion_wxyz": [0.9079031882039658, -0.009309416400707976, -0.02782086881348172, -0.418152047554256], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.270673594043194}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 3.096978204473453}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 5.956801246737981}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 2.520500337346801}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.680829064023613}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.577868789251767}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9874813327867781}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9033977176586541}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.505416357533718}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.3120148608624165}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.753291488813598}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.648207815749154}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.841672663094086}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.739701070625515}], "left_finger_force_n": 27.967008122116948, "right_finger_force_n": 28.982873038282353, "bilateral_contact": true, "supported": true, "lift_m": -0.0018064698874403762}, "simulation_time": 24.10199999999752, "positions": {"shoulder_pan": 0.8125478583237107, "shoulder_lift": -0.6605994357998785, "elbow_flex": 0.46657413237395673, "wrist_flex": 1.5534347315050308, "wrist_roll": -1.6277508807894337e-06, "gripper": -0.17275668481101833}, "velocities": {"shoulder_pan": -0.00500573569678476, "shoulder_lift": 0.16899745851920728, "elbow_flex": 0.023780247404536856, "wrist_flex": -0.08320281004770791, "wrist_roll": 0.0001964556363463692, "gripper": 0.003695636289285647}, "actuator_forces": {"shoulder_pan": -0.16045337689627104, "shoulder_lift": 1.0130200469752708, "elbow_flex": 2.0408394890640693, "wrist_flex": 0.9168429973785805, "wrist_roll": -0.010005196139925525, "gripper": -1.7619626105382054}, "applied_targets": {"shoulder_pan": 0.812384458491956, "shoulder_lift": -0.6593600713771055, "elbow_flex": 0.4686676375227953, "wrist_flex": 1.5542055343689622, "wrist_roll": -1.1359087012555541e-05, "gripper": -0.17453}, "tcp": {"position_m": [0.135422281662202, -0.10199770675567423, 0.0964805453604155], "quaternion_wxyz": [0.7082537286410786, 0.26568718244510997, 0.569666162009226, -0.3213525179799684], "frame": "world"}, "contact_count": 14, "warning_count": 0}
{"cursor": 9887, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 302, "teleop_active": true, "observed_at": 1792583594.131678, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1343421066280387, -0.10177521620674801, 0.09798444843727276], "quaternion_wxyz": [0.9079197429920189, -0.009759254736911997, -0.02829596117997569, -0.41807395974060324], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.54858628827477}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 3.7606776229686445}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.188841792810219}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 3.1719253599539794}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.255338395588605}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.171299496452674}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9061047477200043}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.8412345449897153}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.525926769179323}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.241139044577795}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.7105462883030675}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.622365803925107}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.347500485489338}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.264268574995835}], "left_finger_force_n": 26.941042998508117, "right_finger_force_n": 29.944681152713347, "bilateral_contact": true, "supported": true, "lift_m": -0.0021406746029940943}, "simulation_time": 24.201999999997465, "positions": {"shoulder_pan": 0.8125394228250654, "shoulder_lift": -0.6587943004558343, "elbow_flex": 0.46863896166445923, "wrist_flex": 1.5525772078425413, "wrist_roll": -2.2368180282453608e-05, "gripper": -0.1726511719310647}, "velocities": {"shoulder_pan": 0.001900374205369189, "shoulder_lift": -0.007745057577639955, "elbow_flex": 0.02071773844524162, "wrist_flex": 0.0201333594331053, "wrist_roll": -9.011997474454557e-05, "gripper": 0.0019462014035546856}, "actuator_forces": {"shoulder_pan": 0.21482276991491744, "shoulder_lift": 2.2075471771158846, "elbow_flex": 2.7015390798734416, "wrist_flex": 0.9097186408689595, "wrist_roll": 0.012357928222057949, "gripper": -1.8772925128704117}, "applied_targets": {"shoulder_pan": 0.8127562354368562, "shoulder_lift": -0.6566141786933142, "elbow_flex": 0.4713892250392842, "wrist_flex": 1.5534884843787922, "wrist_roll": -1.0124692017029854e-05, "gripper": -0.17453}, "tcp": {"position_m": [0.1353294379855512, -0.10189490571804122, 0.09594528351455796], "quaternion_wxyz": [0.7073284426671608, 0.2661517568711472, 0.5708052521249175, -0.32098454893508416], "frame": "world"}, "contact_count": 14, "warning_count": 0}
{"cursor": 9888, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 303, "teleop_active": true, "observed_at": 1792583594.208265, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13443199605141198, -0.10175686450267561, 0.09765927530680638], "quaternion_wxyz": [0.9080137486412635, -0.010720393415127037, -0.027058848345925625, -0.41792813278081375], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 7.434979872153949}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 5.081172007846835}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 7.299490470323587}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 4.926132122311059}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.477329098776346}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.368450188542173}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.026400024926403}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 0.9387073787698946}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.803076271529161}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.388370049628248}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.566277304884944}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.450712921202423}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.16709002027385}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.05925662640011}], "left_finger_force_n": 28.002333012172226, "right_finger_force_n": 29.243336872761326, "bilateral_contact": true, "supported": true, "lift_m": -0.00246584773346048}, "simulation_time": 24.30199999999741, "positions": {"shoulder_pan": 0.8117234242714851, "shoulder_lift": -0.6540277120219105, "elbow_flex": 0.4689791060440796, "wrist_flex": 1.5512496733820604, "wrist_roll": 4.023810022512663e-06, "gripper": -0.17265247559995112}, "velocities": {"shoulder_pan": -0.006306791075787585, "shoulder_lift": -0.009422848546921605, "elbow_flex": 0.024910528873453755, "wrist_flex": -0.002596482022578749, "wrist_roll": -0.0005485704946167525, "gripper": 0.0010449135594261612}, "actuator_forces": {"shoulder_pan": -0.12708331530006944, "shoulder_lift": 2.7360881349256942, "elbow_flex": 3.35, "wrist_flex": 0.5780601013800606, "wrist_roll": -0.02355974769132599, "gripper": -1.8758259916506859}, "applied_targets": {"shoulder_pan": 0.8115901223644036, "shoulder_lift": -0.6513236586323327, "elbow_flex": 0.47650568161301365, "wrist_flex": 1.5518237683442533, "wrist_roll": -1.9925581805129132e-05, "gripper": -0.17453}, "tcp": {"position_m": [0.1354519212782368, -0.10186129292545837, 0.09540078865322696], "quaternion_wxyz": [0.7063402030584067, 0.26647207648853066, 0.5722891756234454, -0.32025185317111915], "frame": "world"}, "contact_count": 14, "warning_count": 0}
{"cursor": 9889, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 305, "teleop_active": true, "observed_at": 1792583594.591511, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13446846478680394, -0.1017984839268905, 0.09754320235260558], "quaternion_wxyz": [0.9080545591936683, -0.010643510939104654, -0.026285425819994622, -0.4178907866798988], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 8.01495110635815}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.065119308441088}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 8.25020027766926}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.300368479752197}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.052401431831493}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.877125692387181}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.3206789587938783}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0805865297967414}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.044374666220005}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.470189833132994}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.430908274014945}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.25089525796601}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.705880578615761}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.532287935124383}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.31930542379550475}], "left_finger_force_n": 29.845357112162294, "right_finger_force_n": 28.239277469516605, "bilateral_contact": true, "supported": true, "lift_m": -0.0025819206876612766}, "simulation_time": 24.401999999997354, "positions": {"shoulder_pan": 0.8117301286928074, "shoulder_lift": -0.650255255370158, "elbow_flex": 0.4686646893867617, "wrist_flex": 1.5505810839295209, "wrist_roll": -8.443670709856019e-06, "gripper": -0.1726906014927791}, "velocities": {"shoulder_pan": -0.01122618160912223, "shoulder_lift": 0.03528731007513654, "elbow_flex": -0.000717593364134472, "wrist_flex": -0.009682679142539008, "wrist_roll": 0.0024235704260228363, "gripper": -0.0004284953191689919}, "actuator_forces": {"shoulder_pan": -1.708277831497071, "shoulder_lift": 3.35, "elbow_flex": 3.35, "wrist_flex": -0.40349892903464024, "wrist_roll": -0.00011234443512902689, "gripper": -1.8382396861418329}, "applied_targets": {"shoulder_pan": 0.8100427093743762, "shoulder_lift": -0.6448688547319094, "elbow_flex": 0.47742255063409955, "wrist_flex": 1.5502045747131286, "wrist_roll": -1.3290811561901726e-05, "gripper": -0.17453}, "tcp": {"position_m": [0.13549027646102768, -0.1019048883095283, 0.09505261165856105], "quaternion_wxyz": [0.7055224953719195, 0.266886853873431, 0.5732769234545811, -0.3199421585039585], "frame": "world"}, "contact_count": 15, "warning_count": 0}
{"cursor": 9890, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 306, "teleop_active": true, "observed_at": 1792583594.6693175, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13468688317667823, -0.10183291380868013, 0.0974076063538226], "quaternion_wxyz": [0.908227398087669, -0.011298924255922962, -0.02235489887390769, -0.41772668836201876], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 8.145405574809365}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.700970863765399}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 8.066204143241889}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.621769432197924}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.18640590230891}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.063604839053582}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2757834681971287}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1930217856479473}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.103508542221041}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.341604052198015}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.368990554814628}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.238011757824239}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.549265214682152}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.427643356108741}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 0.848215713089802}], "left_finger_force_n": 30.163928589626625, "right_finger_force_n": 28.432126596519563, "bilateral_contact": true, "supported": true, "lift_m": -0.002717516686444252}, "simulation_time": 24.5019999999973, "positions": {"shoulder_pan": 0.8103435578536073, "shoulder_lift": -0.6417661133650586, "elbow_flex": 0.46505671461833137, "wrist_flex": 1.5509386759478887, "wrist_roll": -3.6903734432745934e-06, "gripper": -0.1727232804867415}, "velocities": {"shoulder_pan": 0.010689240967269573, "shoulder_lift": 0.2571840361808357, "elbow_flex": -0.1453312755801085, "wrist_flex": 0.0487590168787676, "wrist_roll": -0.0006056953474171989, "gripper": -0.002472273314399708}, "actuator_forces": {"shoulder_pan": 0.4335531653724729, "shoulder_lift": 3.2611906787426506, "elbow_flex": 3.35, "wrist_flex": -0.1288696472081483, "wrist_roll": 0.02110098403524007, "gripper": -1.8041961632501113}, "applied_targets": {"shoulder_pan": 0.8107857075085927, "shoulder_lift": -0.638336721200002, "elbow_flex": 0.47656145807969397, "wrist_flex": 1.5508592085094681, "wrist_roll": 1.67761725254535e-05, "gripper": -0.17453}, "tcp": {"position_m": [0.13578305740098784, -0.10192129000093642, 0.09467701126590648], "quaternion_wxyz": [0.7042891831833252, 0.2671952541275478, 0.5752505863095354, -0.31885765722844844], "frame": "world"}, "contact_count": 15, "warning_count": 0}
{"cursor": 9891, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 307, "teleop_active": true, "observed_at": 1792583594.8102558, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1347630678766021, -0.10199384483505625, 0.09736941559606858], "quaternion_wxyz": [0.908285527582997, -0.009560333241874483, -0.01950591206158233, -0.4177864523967076], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 7.008826650799333}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 5.178328861040361}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.976245942699177}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 5.145748152940206}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.080738193173508}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.968762853592791}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2420594906183868}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1343516978139463}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.07722221389879}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.1342913612872145}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.40184444847563}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.282368012893902}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.6045251091102}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.49362501954111}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 1.8386998006650312}], "left_finger_force_n": 29.637425810384638, "right_finger_force_n": 29.62106239068587, "bilateral_contact": true, "supported": true, "lift_m": -0.0027557074441982715}, "simulation_time": 24.601999999997243, "positions": {"shoulder_pan": 0.8109319574286885, "shoulder_lift": -0.6341527916839939, "elbow_flex": 0.4611376503055938, "wrist_flex": 1.5517145635919727, "wrist_roll": -1.2552514284043284e-05, "gripper": -0.1728018620840077}, "velocities": {"shoulder_pan": 0.00528069350848644, "shoulder_lift": -0.03104827419015435, "elbow_flex": 0.01949872007047686, "wrist_flex": -0.03467022861031707, "wrist_roll": -9.54500420777572e-05, "gripper": -0.0010233515114870808}, "actuator_forces": {"shoulder_pan": 0.21605338908921112, "shoulder_lift": 1.5433231756155692, "elbow_flex": 3.35, "wrist_flex": -0.21022375038319296, "wrist_roll": 0.014961556422717527, "gripper": -1.722972275595339}, "applied_targets": {"shoulder_pan": 0.811153550309544, "shoulder_lift": -0.6325244405718917, "elbow_flex": 0.47563906163097086, "wrist_flex": 1.5514996709680005, "wrist_roll": 2.2575359843341148e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.13587313143015892, -0.10213833569135074, 0.09440969566163304], "quaternion_wxyz": [0.7027494343254955, 0.2680801312391561, 0.5769165234406372, -0.31850212051281795], "frame": "world"}, "contact_count": 15, "warning_count": 0}
{"cursor": 9892, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 308, "teleop_active": true, "observed_at": 1792583594.8877523, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1348547921604184, -0.10209090524705762, 0.09738841723178532], "quaternion_wxyz": [0.9083346130751424, -0.008898142444498481, -0.01733997430888408, -0.4177898742689148], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 7.566194493273633}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.0047724646125324}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 7.447673558565168}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 5.886251529904068}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.9127887629347535}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 7.797185885101288}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2305664227235664}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.1177308240405022}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.074254787826949}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 4.963977146748342}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.419893526837079}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.295492828959164}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.7620874424399275}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.6475946482748896}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 3.4646421567277486}], "left_finger_force_n": 29.0965038293754, "right_finger_force_n": 31.589710603238807, "bilateral_contact": true, "supported": true, "lift_m": -0.0027367058084815377}, "simulation_time": 24.701999999997188, "positions": {"shoulder_pan": 0.8109335871401498, "shoulder_lift": -0.6292311482052764, "elbow_flex": 0.45891533008649654, "wrist_flex": 1.5517280571154173, "wrist_roll": -7.86386529268438e-06, "gripper": -0.1728110191855548}, "velocities": {"shoulder_pan": -0.0011389248082710579, "shoulder_lift": -0.03122172216513107, "elbow_flex": 0.029570663857132855, "wrist_flex": -0.01638408475066259, "wrist_roll": -9.636899069774759e-05, "gripper": 0.0020651771086809875}, "actuator_forces": {"shoulder_pan": -0.01955442339885849, "shoulder_lift": 2.9802585529388352, "elbow_flex": 3.35, "wrist_flex": 0.37119870649212316, "wrist_roll": -0.0008668323744816762, "gripper": -1.7177424883852837}, "applied_targets": {"shoulder_pan": 0.8109131860905091, "shoulder_lift": -0.6263078680805867, "elbow_flex": 0.47326569766444937, "wrist_flex": 1.5520755470652732, "wrist_roll": -8.792192998707327e-06, "gripper": -0.17453}, "tcp": {"position_m": [0.1359988681442624, -0.10227367738105617, 0.09421229338083742], "quaternion_wxyz": [0.7019611857220368, 0.26846767303048463, 0.5778644513835697, -0.3181953458246593], "frame": "world"}, "contact_count": 15, "warning_count": 0}
{"cursor": 9893, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 310, "teleop_active": true, "observed_at": 1792583595.0638313, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13484065277732385, -0.10217954154012315, 0.09744202210913165], "quaternion_wxyz": [0.9082800315684605, -0.007949575693087352, -0.01691319150445517, -0.41794513091245555], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.5744720366424305}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 4.64737991181937}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.424883228617084}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 4.4977911037940235}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.478704020633321}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 6.4160033232110685}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0692181089861752}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.0141691161364481}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.3751407581248385}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.285520444039429}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.088248533107313}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.082805516106182}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.84550637693113}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 8.783407766770994}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.024973357588072}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 4.957951146259551}], "left_finger_force_n": 26.63875577113128, "right_finger_force_n": 40.78289269676324, "bilateral_contact": true, "supported": true, "lift_m": -0.0026831009311352044}, "simulation_time": 24.801999999997133, "positions": {"shoulder_pan": 0.8116946033863262, "shoulder_lift": -0.620839059415268, "elbow_flex": 0.4533007121880228, "wrist_flex": 1.5546413640819694, "wrist_roll": -3.238828637143227e-05, "gripper": -0.17263104281438416}, "velocities": {"shoulder_pan": -0.002865226469071054, "shoulder_lift": 0.0714934134741383, "elbow_flex": -0.06756446452005416, "wrist_flex": 0.07790883797434944, "wrist_roll": -0.0002733929900476096, "gripper": 0.007254085311564963}, "actuator_forces": {"shoulder_pan": -0.4137259493087413, "shoulder_lift": 3.35, "elbow_flex": 3.35, "wrist_flex": 3.1450332914721457, "wrist_roll": 0.0006755864252450117, "gripper": -1.8838449635041172}, "applied_targets": {"shoulder_pan": 0.8112909920021691, "shoulder_lift": -0.6154480532917201, "elbow_flex": 0.4706872381753971, "wrist_flex": 1.5576789672787077, "wrist_roll": -3.184150039133682e-05, "gripper": -0.17453}, "tcp": {"position_m": [0.13598355204653878, -0.10241394470868669, 0.09408065740715496], "quaternion_wxyz": [0.7002066820506325, 0.26949209275130104, 0.5797163006654575, -0.3178264071768188], "frame": "world"}, "contact_count": 16, "warning_count": 0}
{"cursor": 9894, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 311, "teleop_active": true, "observed_at": 1792583595.141362, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.13495232898763798, -0.10222100025686916, 0.09748381416702633], "quaternion_wxyz": [0.9083978233937926, -0.007882034660427629, -0.014187940603963488, -0.4177917786702481], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 7.812487172180235}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 7.180200407173901}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 7.555545761027425}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 6.92325899602109}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.185825087993017}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 8.067521734926517}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.3782272433500455}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 1.2639696110862795}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 6.500166381271279}, {"geom": "task_fixed_finger_back", "body": "gripper", "normal_force_n": 5.233633307196893}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.735087353615191}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.215112083244786}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 7.617920015694855}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 6.097944745324449}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 5.745792862202501}], "left_finger_force_n": 30.62934336582403, "right_finger_force_n": 33.411857060081786, "bilateral_contact": true, "supported": true, "lift_m": -0.0026413088732405304}, "simulation_time": 24.901999999997077, "positions": {"shoulder_pan": 0.811098667454076, "shoulder_lift": -0.6080231317739967, "elbow_flex": 0.4443388357775089, "wrist_flex": 1.5607246918729554, "wrist_roll": -2.088412184075703e-05, "gripper": -0.17269382049844453}, "velocities": {"shoulder_pan": -0.00867519455691896, "shoulder_lift": 0.32743145876982194, "elbow_flex": -0.22143768091363333, "wrist_flex": 0.11820108297643427, "wrist_roll": 0.0004030013555202154, "gripper": -0.014917746375913893}, "actuator_forces": {"shoulder_pan": -0.26137680557087606, "shoulder_lift": 3.35, "elbow_flex": 3.35, "wrist_flex": -0.4348130477912946, "wrist_roll": -0.007232041637811448, "gripper": -1.8327175418649801}, "applied_targets": {"shoulder_pan": 0.8108279593106227, "shoulder_lift": -0.6032542642043519, "elbow_flex": 0.46205639108765767, "wrist_flex": 1.560431158035793, "wrist_roll": -2.7785914600341465e-05, "gripper": -0.17453}, "tcp": {"position_m": [0.13597727320352992, -0.10228768339384811, 0.09391702002453318], "quaternion_wxyz": [0.6974231299772468, 0.27071090635184486, 0.583229011620145, -0.3164814417299877], "frame": "world"}, "contact_count": 15, "warning_count": 0}
{"cursor": 9895, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 312, "teleop_active": true, "observed_at": 1792583595.4222927, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1358116436304933, -0.10330465281427725, 0.09746107086442557], "quaternion_wxyz": [0.908328224631032, 0.008041955511181167, 0.017872985991807238, -0.4177986592390287], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 9.490359163239107}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 5.119238592400622}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 9.464749902494958}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 5.093629331656474}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.709218814097748}, {"geom": "task_fixed_pad", "body": "gripper", "normal_force_n": 3.5279177924334295}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.182434255350715}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.0}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 5.055168073211338}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 0.0}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 10.682900114390524}], "left_finger_force_n": 7.237136606531177, "right_finger_force_n": 20.920502442952575, "bilateral_contact": true, "supported": true, "lift_m": -0.002664052175841286}, "simulation_time": 25.00199999999702, "positions": {"shoulder_pan": 0.8117957555946043, "shoulder_lift": -0.602781816539901, "elbow_flex": 0.440789137389021, "wrist_flex": 1.5662477759953917, "wrist_roll": -4.409173874086921e-05, "gripper": -0.11161488759050608}, "velocities": {"shoulder_pan": 0.007804745573622103, "shoulder_lift": -0.08977761368180592, "elbow_flex": 0.15875802939783654, "wrist_flex": -0.13118942858246488, "wrist_roll": 0.00040189580675719326, "gripper": 1.5009796895897127}, "actuator_forces": {"shoulder_pan": 0.05670374897056263, "shoulder_lift": 3.011567665677717, "elbow_flex": 3.35, "wrist_flex": -0.4330263865838333, "wrist_roll": 0.021737454484907288, "gripper": -1.4226286598673141}, "applied_targets": {"shoulder_pan": 0.81186324048013, "shoulder_lift": -0.5998677487725051, "elbow_flex": 0.45458544346631524, "wrist_flex": 1.5657064202581255, "wrist_roll": -2.2158438444738262e-05, "gripper": -0.11152999999999993}, "tcp": {"position_m": [0.13554772539224522, -0.10197071408130606, 0.09378346054870745], "quaternion_wxyz": [0.6949816199992596, 0.27203177131475403, 0.5858943116376172, -0.315796008285798], "frame": "world"}, "contact_count": 11, "warning_count": 0}
{"cursor": 9896, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 313, "teleop_active": true, "observed_at": 1792583595.56966, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1380708792323149, -0.1059170064697808, 0.09735795062140624], "quaternion_wxyz": [0.9028778776560706, 0.04565561648387592, 0.10118920589392355, -0.4153165627967467], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 10.89661275799014}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 10.818674429066911}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 3.566564383960292}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 3.314016910457889}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 18.992594829730564}], "left_finger_force_n": 0, "right_finger_force_n": 25.873176124148745, "bilateral_contact": false, "supported": true, "lift_m": -0.002767172418860611}, "simulation_time": 25.101999999996966, "positions": {"shoulder_pan": 0.8114920506983464, "shoulder_lift": -0.5988856559140795, "elbow_flex": 0.44762530818078283, "wrist_flex": 1.5668404981233126, "wrist_roll": -2.3723707855419512e-05, "gripper": 0.03641590106793712}, "velocities": {"shoulder_pan": 0.0005239184875711904, "shoulder_lift": 0.030235513688795103, "elbow_flex": 0.12253182654306609, "wrist_flex": -0.001118208714480283, "wrist_roll": 1.6439656153893405e-05, "gripper": 1.5028500797015507}, "actuator_forces": {"shoulder_pan": 0.08203308538372767, "shoulder_lift": 2.6189491720581373, "elbow_flex": 3.35, "wrist_flex": 0.8646321884671124, "wrist_roll": -0.0035952113298083656, "gripper": 0.9460944621218204}, "applied_targets": {"shoulder_pan": 0.8115744976598454, "shoulder_lift": -0.5962604039777755, "elbow_flex": 0.4522526971025367, "wrist_flex": 1.5677047805221256, "wrist_roll": -2.7315461712549112e-05, "gripper": 0.03847000000000013}, "tcp": {"position_m": [0.13485268841196973, -0.10117964016632089, 0.0923394544626669], "quaternion_wxyz": [0.6917473099126322, 0.27349829381221086, 0.5897828875985064, -0.3143890710670672], "frame": "world"}, "contact_count": 7, "warning_count": 0}
{"cursor": 9897, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 315, "teleop_active": true, "observed_at": 1792583595.6825066, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14069839804122844, -0.10896603461736791, 0.09923718411779195], "quaternion_wxyz": [0.8878725558117633, 0.0874697925869414, 0.192928729601293, -0.40842363461915093], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 7.907150425367766}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 8.154308015909788}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 1.3653759064335158}, {"geom": "task_moving_pad", "body": "moving_jaw_so101_v1", "normal_force_n": 1.6443648021031274}, {"geom": "task_moving_finger_back", "body": "moving_jaw_so101_v1", "normal_force_n": 17.393558320136794}], "left_finger_force_n": 0, "right_finger_force_n": 20.403299028673437, "bilateral_contact": false, "supported": true, "lift_m": -0.0008879389224749068}, "simulation_time": 25.20199999999691, "positions": {"shoulder_pan": 0.8115177567682528, "shoulder_lift": -0.5994346954689146, "elbow_flex": 0.44785784250614713, "wrist_flex": 1.5663218574069777, "wrist_roll": -2.1466965645273867e-05, "gripper": 0.18657595930847182}, "velocities": {"shoulder_pan": 0.006747200413967404, "shoulder_lift": 0.058738074677180216, "elbow_flex": -0.003822982990029495, "wrist_flex": 0.01893240326323527, "wrist_roll": 0.00018689084132628034, "gripper": 1.5150522448335666}, "actuator_forces": {"shoulder_pan": 0.26772343650361563, "shoulder_lift": 3.35, "elbow_flex": 3.35, "wrist_flex": 1.9087895664360985, "wrist_roll": -0.0002486392611100903, "gripper": 0.7964514200610893}, "applied_targets": {"shoulder_pan": 0.8117716597851418, "shoulder_lift": -0.5953782797143424, "elbow_flex": 0.4526003664947956, "wrist_flex": 1.5681345606988284, "wrist_roll": -2.18407473279263e-05, "gripper": 0.18847000000000025}, "tcp": {"position_m": [0.13487800105979392, -0.10120901885340414, 0.09234249399894762], "quaternion_wxyz": [0.6919508011510603, 0.2734045858406284, 0.589542060941313, -0.31447444985052336], "frame": "world"}, "contact_count": 5, "warning_count": 0}
{"cursor": 9898, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 316, "teleop_active": true, "observed_at": 1792583595.8231432, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1418786086532342, -0.11046348042450162, 0.09970267870944828], "quaternion_wxyz": [0.876962666623931, 0.10966958115495205, 0.23710562101633997, -0.40334847067963253], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.11621881786716806}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.11170206745601122}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.0004224443308185749}, "simulation_time": 25.301999999996855, "positions": {"shoulder_pan": 0.8128316151672846, "shoulder_lift": -0.6119884884049133, "elbow_flex": 0.44027152250752144, "wrist_flex": 1.5811815837386367, "wrist_roll": -1.4725832732616358e-05, "gripper": 0.30197814321783195}, "velocities": {"shoulder_pan": -0.0021099471976497187, "shoulder_lift": -0.9705775985746148, "elbow_flex": -0.43079334560789834, "wrist_flex": 0.33809527243737664, "wrist_roll": 6.32557336929684e-06, "gripper": 1.3097649223817418}, "actuator_forces": {"shoulder_pan": -0.32363007421042767, "shoulder_lift": 1.9659687469867322, "elbow_flex": 2.8393865689400286, "wrist_flex": -3.35, "wrist_roll": -0.0015958416715689226, "gripper": 3.35}, "applied_targets": {"shoulder_pan": 0.8125459485997796, "shoulder_lift": -0.6110753314480577, "elbow_flex": 0.44233559443508375, "wrist_flex": 1.5778880572079277, "wrist_roll": -1.629867740170463e-05, "gripper": 0.31612375929474834}, "tcp": {"position_m": [0.13397188017143138, -0.10052210104494792, 0.09424405838120653], "quaternion_wxyz": [0.6926493075884507, 0.2733645822321373, 0.5883018182460299, -0.31529305816447], "frame": "world"}, "contact_count": 2, "warning_count": 0}
{"cursor": 9899, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 317, "teleop_active": true, "observed_at": 1792583595.8951447, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.14405155584386134, -0.11296978654747257, 0.10038679205622138], "quaternion_wxyz": [0.8552408139602224, 0.14101526664873867, 0.30632554680659896, -0.39350032284901587], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.10762480230152187}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.1076561738442481}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 0.0002616690159545215}, "simulation_time": 25.4019999999968, "positions": {"shoulder_pan": 0.8122214555373826, "shoulder_lift": -0.6245565443132619, "elbow_flex": 0.4348521981883397, "wrist_flex": 1.5862971670826778, "wrist_roll": -1.6238825606430965e-05, "gripper": 0.41547289975619256}, "velocities": {"shoulder_pan": 0.0039256882996340755, "shoulder_lift": 0.5141418723081619, "elbow_flex": 0.12088828442381025, "wrist_flex": -0.02988157481229771, "wrist_roll": 1.0520617117218798e-06, "gripper": 2.242363836110475}, "actuator_forces": {"shoulder_pan": 0.029668984904446916, "shoulder_lift": -0.0012142563974748555, "elbow_flex": -1.1840220631197553, "wrist_flex": 1.386205776105271, "wrist_roll": 5.460519089960092e-05, "gripper": -2.086392690247976}, "applied_targets": {"shoulder_pan": 0.8122558113149224, "shoulder_lift": -0.6241677578943152, "elbow_flex": 0.43388094347927214, "wrist_flex": 1.5874428170716897, "wrist_roll": -1.6183662233181125e-05, "gripper": 0.4156024948817493}, "tcp": {"position_m": [0.13420153261217438, -0.10063920250774241, 0.09679632813122976], "quaternion_wxyz": [0.6976114756652597, 0.2708547596872637, 0.5826519820363055, -0.31700567187994866], "frame": "world"}, "contact_count": 2, "warning_count": 0}
{"cursor": 9900, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 318, "teleop_active": true, "observed_at": 1792583595.9664476, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15395497221282572, -0.12451125357227102, 0.08628334203683502], "quaternion_wxyz": [0.6192715974698172, 0.3063726976871819, 0.665084844720973, -0.28337361909948533], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.08372237794147504}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.08037958765329094}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131963032193648}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06272829170456969}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.013841781003431836}, "simulation_time": 25.501999999996745, "positions": {"shoulder_pan": 0.8130904112650147, "shoulder_lift": -0.637762088230827, "elbow_flex": 0.42239567683833795, "wrist_flex": 1.5957591150673662, "wrist_roll": -1.6193087443432563e-05, "gripper": 0.4880777487409041}, "velocities": {"shoulder_pan": 0.004917526329786912, "shoulder_lift": -0.242346562318136, "elbow_flex": -0.10529793917550856, "wrist_flex": -0.01854389735610421, "wrist_roll": -1.8262805731152582e-06, "gripper": 1.0885469823961507}, "actuator_forces": {"shoulder_pan": -0.0036764829801541055, "shoulder_lift": -1.2595716028599782, "elbow_flex": -0.44630005505166537, "wrist_flex": -0.4114180282365396, "wrist_roll": -3.0863857955927554e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.813093054325994, "shoulder_lift": -0.6390787035477047, "elbow_flex": 0.4218572405290138, "wrist_flex": 1.5953872366968562, "wrist_roll": -1.6198923768284502e-05, "gripper": 0.4720923510742189}, "tcp": {"position_m": [0.13427409624765116, -0.1008908004317293, 0.09969121401919136], "quaternion_wxyz": [0.7017141512529784, 0.2690432373309718, 0.5774594862588359, -0.3189882883547029], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9901, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 320, "teleop_active": true, "observed_at": 1792583596.3501332, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15364891782889914, -0.12412776016956217, 0.08785548562063503], "quaternion_wxyz": [0.6398215991430258, 0.29645140385250557, 0.6453720734681168, -0.2936660913544579], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06076462324030918}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0606583246828932}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06071463569578175}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06080547174426129}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.01226963741963183}, "simulation_time": 25.60199999999669, "positions": {"shoulder_pan": 0.8143955674334113, "shoulder_lift": -0.6571412092530279, "elbow_flex": 0.40850667416578407, "wrist_flex": 1.6051315918830027, "wrist_roll": -1.6125489546524367e-05, "gripper": 0.5712731882385116}, "velocities": {"shoulder_pan": -0.12329142311498069, "shoulder_lift": -0.05395043742052779, "elbow_flex": -0.11413537910319507, "wrist_flex": 0.16829580243069522, "wrist_roll": 3.247995659482488e-05, "gripper": -0.23826329298913054}, "actuator_forces": {"shoulder_pan": -2.377079904403331, "shoulder_lift": -2.2346042182164183, "elbow_flex": -3.030521624272808, "wrist_flex": 3.1660822864050715, "wrist_roll": -1.3845982109808586e-07, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.8122505561974818, "shoulder_lift": -0.6591833467262884, "elbow_flex": 0.40574018932056943, "wrist_flex": 1.6079383079191578, "wrist_roll": -1.619044945971391e-05, "gripper": 0.5522282024186851}, "tcp": {"position_m": [0.13450212801645864, -0.10144865362082603, 0.10376275361116048], "quaternion_wxyz": [0.7087029896053034, 0.2658895230542337, 0.5684164075171054, -0.322405988963985], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9902, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 321, "teleop_active": true, "observed_at": 1792583596.4207406, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15361093351559324, -0.12408033003948744, 0.08803191679913952], "quaternion_wxyz": [0.6422568616275427, 0.2952351576421417, 0.6429491049115333, -0.29488773097200704], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061240911332940004}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061239010604533316}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06125013084305875}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06125030991990138}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012093206241127336}, "simulation_time": 25.701999999996634, "positions": {"shoulder_pan": 0.812274262649977, "shoulder_lift": -0.6643653993137734, "elbow_flex": 0.4046211938740985, "wrist_flex": 1.6110052615378416, "wrist_roll": -1.6236421504966034e-05, "gripper": 0.6050260444662436}, "velocities": {"shoulder_pan": 2.356870108172852e-05, "shoulder_lift": -0.010703728157640558, "elbow_flex": -0.005646841862608906, "wrist_flex": 0.0018068157070855377, "wrist_roll": -7.077134070485331e-08, "gripper": 0.5318860546837793}, "actuator_forces": {"shoulder_pan": -0.04085006195555252, "shoulder_lift": -0.28667834371526624, "elbow_flex": -0.519014754436057, "wrist_flex": 0.018910801809852273, "wrist_roll": -1.2536200360614008e-05, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.8122339008925417, "shoulder_lift": -0.664653517165251, "elbow_flex": 0.4041134491375197, "wrist_flex": 1.611025502100614, "wrist_roll": -1.6248653265109343e-05, "gripper": 0.6008432903093102}, "tcp": {"position_m": [0.13446606200366684, -0.100930564459683, 0.10503290410897997], "quaternion_wxyz": [0.7106013399319997, 0.2644514115564137, 0.5668515409082396, -0.3221653568939726], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9903, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 322, "teleop_active": true, "observed_at": 1792583596.561279, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15360617246497643, -0.12407438440769149, 0.08805373298823878], "quaternion_wxyz": [0.6425593220724519, 0.2950834529246236, 0.6426468356349466, -0.29503951951605073], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06130350142129795}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061303375736987145}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061304760826851476}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061304666644551836}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012071390052028078}, "simulation_time": 25.80199999999658, "positions": {"shoulder_pan": 0.8116850057527021, "shoulder_lift": -0.6881305542857951, "elbow_flex": 0.3903391736085604, "wrist_flex": 1.6206097803466541, "wrist_roll": -1.6320426618501268e-05, "gripper": 0.6644301632034633}, "velocities": {"shoulder_pan": 0.006917932915520987, "shoulder_lift": 0.4065008946066786, "elbow_flex": 0.37392377994186676, "wrist_flex": -0.10485251832591533, "wrist_roll": 7.700288535654378e-07, "gripper": 1.7579403545229377}, "actuator_forces": {"shoulder_pan": -0.05348212489400339, "shoulder_lift": 3.35, "elbow_flex": -0.5000261962407535, "wrist_flex": 1.7234331640183882, "wrist_roll": 6.10438081847138e-05, "gripper": -2.4586983413749977}, "applied_targets": {"shoulder_pan": 0.8116408157586469, "shoulder_lift": -0.6827199037329317, "elbow_flex": 0.3902219091314677, "wrist_flex": 1.6219705880986461, "wrist_roll": -1.6260373963244008e-05, "gripper": 0.6638432903093102}, "tcp": {"position_m": [0.13480880843901236, -0.10116998940165649, 0.1097924970592495], "quaternion_wxyz": [0.7192965308782072, 0.2598677281342533, 0.5560918085674377, -0.32533546530483526], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9904, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 12951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 323, "teleop_active": true, "observed_at": 1792583596.6350133, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536055702136919, -0.12407363214870246, 0.08805647275712594], "quaternion_wxyz": [0.6425975408613245, 0.2950642685757788, 0.6426086199016006, -0.29505870520454064], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061311367645147344}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131135341570337}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131152831941315}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061311514592761976}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068650283140914}, "simulation_time": 25.901999999996523, "positions": {"shoulder_pan": 0.813165303392958, "shoulder_lift": -0.698206981852758, "elbow_flex": 0.37746687486650454, "wrist_flex": 1.6314444594306245, "wrist_roll": -1.6276887472510473e-05, "gripper": 0.7558491214814769}, "velocities": {"shoulder_pan": 0.007214229901357904, "shoulder_lift": -0.2020954928604325, "elbow_flex": -0.10725236590183448, "wrist_flex": -0.011765083399109918, "wrist_roll": -2.1473941268870354e-06, "gripper": -0.13679216395787522}, "actuator_forces": {"shoulder_pan": -0.07342915950493989, "shoulder_lift": -2.2404472658178065, "elbow_flex": -0.6082922527107826, "wrist_flex": -0.5091470174295409, "wrist_roll": 4.566811426392342e-06, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.8131019135438631, "shoulder_lift": -0.7003368833119217, "elbow_flex": 0.37677457177947127, "wrist_flex": 1.6309960258413945, "wrist_roll": -1.6276058743110577e-05, "gripper": 0.7499535942208769}, "tcp": {"position_m": [0.13445102012232768, -0.10109203330557529, 0.11230949518892115], "quaternion_wxyz": [0.7219363936221077, 0.25876562283224935, 0.5521938354309579, -0.32700177998933116], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9905, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 325, "teleop_active": true, "observed_at": 1792583596.8068652, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15360549396950907, -0.12407353689278645, 0.08805681739199285], "quaternion_wxyz": [0.6426023789932639, 0.29506183921193785, 0.6426037818186375, -0.29506113458985106], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312357476240795}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312355696464274}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131237784106046}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131237606936312}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068305648274005}, "simulation_time": 26.001999999996467, "positions": {"shoulder_pan": 0.811902145929485, "shoulder_lift": -0.7140360216132494, "elbow_flex": 0.36546432828842257, "wrist_flex": 1.6362947317111427, "wrist_roll": -1.634432149660496e-05, "gripper": 0.7952434176649057}, "velocities": {"shoulder_pan": 0.0519457689573455, "shoulder_lift": -0.037512950588380986, "elbow_flex": -0.09033202444486771, "wrist_flex": 0.16948270969229115, "wrist_roll": -1.710571094773619e-05, "gripper": -0.5273415564101763}, "actuator_forces": {"shoulder_pan": 1.042249709551129, "shoulder_lift": -2.933997357164003, "elbow_flex": -3.2208082400291573, "wrist_flex": 3.0684997981329616, "wrist_roll": 3.1292475130562103e-07, "gripper": 3.35}, "applied_targets": {"shoulder_pan": 0.8128421298687512, "shoulder_lift": -0.7166706970331067, "elbow_flex": 0.36254280510234127, "wrist_flex": 1.639018555622536, "wrist_roll": -1.6310110074709897e-05, "gripper": 0.80342166015625}, "tcp": {"position_m": [0.13501638806182684, -0.10141458060306657, 0.11584976504190778], "quaternion_wxyz": [0.7288345715704527, 0.25482705191459615, 0.5436311415347528, -0.32913298657207135], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9906, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13051, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 326, "teleop_active": true, "observed_at": 1792583596.8795996, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15360548431616278, -0.1240735248296829, 0.08805686075229058], "quaternion_wxyz": [0.6426029915917375, 0.2950615315235895, 0.6426031692209496, -0.29506144227854414], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124820607095}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131248183508558}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312484639793434}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131248441429939}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068262287976278}, "simulation_time": 26.101999999996412, "positions": {"shoulder_pan": 0.8114390591694722, "shoulder_lift": -0.7332869438767902, "elbow_flex": 0.3494146993153671, "wrist_flex": 1.6447726373733096, "wrist_roll": -1.62530177564326e-05, "gripper": 0.8556394896971902}, "velocities": {"shoulder_pan": 0.01403869222575753, "shoulder_lift": -0.35784137546146266, "elbow_flex": -0.3056431204054953, "wrist_flex": -0.06904765974716781, "wrist_roll": -2.528541275361913e-05, "gripper": 0.7189981299428313}, "actuator_forces": {"shoulder_pan": 0.4299664455631955, "shoulder_lift": 3.2495377170839674, "elbow_flex": 2.8894744272100183, "wrist_flex": -0.8129098168153632, "wrist_roll": -6.508974520504432e-05, "gripper": 3.35}, "applied_targets": {"shoulder_pan": 0.8118268803163592, "shoulder_lift": -0.7307402485365911, "elbow_flex": 0.35164468686109507, "wrist_flex": 1.6440200295871645, "wrist_roll": -1.6328407194590157e-05, "gripper": 0.8861837700021269}, "tcp": {"position_m": [0.1351769210267159, -0.10150506991609601, 0.12008475802972918], "quaternion_wxyz": [0.7359047173196182, 0.2508833475098925, 0.5342803623590032, -0.33173225252678595], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9907, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13101, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 327, "teleop_active": true, "observed_at": 1792583596.9502966, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15360548309392924, -0.12407352330200573, 0.08805686620781346], "quaternion_wxyz": [0.6426030691603967, 0.29506149255282604, 0.6426030916523036, -0.29506148124931314], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249774199051}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249771333883}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249806858291}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249803993327}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256832453397}, "simulation_time": 26.201999999996357, "positions": {"shoulder_pan": 0.813945305348426, "shoulder_lift": -0.733724545582424, "elbow_flex": 0.34840824885904775, "wrist_flex": 1.6440794871873499, "wrist_roll": -1.6128639169095386e-05, "gripper": 0.9197598281455669}, "velocities": {"shoulder_pan": 0.016980873644613575, "shoulder_lift": 0.033294301699812595, "elbow_flex": 0.02211175593612233, "wrist_flex": 0.0004458173280027821, "wrist_roll": -2.1014046264836315e-05, "gripper": 0.22131441947452585}, "actuator_forces": {"shoulder_pan": 0.3799513755194539, "shoulder_lift": -0.922718716890472, "elbow_flex": -1.174385887252754, "wrist_flex": -0.03763911375176576, "wrist_roll": -0.0002348344319552942, "gripper": -3.35}, "applied_targets": {"shoulder_pan": 0.8142912197078512, "shoulder_lift": -0.7345307979876042, "elbow_flex": 0.34735226978710665, "wrist_flex": 1.6440423242900186, "wrist_roll": -1.6366546873453063e-05, "gripper": 0.9105338676583768}, "tcp": {"position_m": [0.13512034422186128, -0.10195476395718618, 0.12052569257338049], "quaternion_wxyz": [0.7365086238440132, 0.2509818907449107, 0.5325784827352777, -0.3330514933893807], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9908, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13151, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 328, "teleop_active": true, "observed_at": 1792583597.290503, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15360548293917908, -0.12407352310853963, 0.08805686689422078], "quaternion_wxyz": [0.642603078982356, 0.2950614876169051, 0.6426030818303449, -0.29506148618523415], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249971578484}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499712145585}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249975714093}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249975350178}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256146046077}, "simulation_time": 26.3019999999963, "positions": {"shoulder_pan": 0.8126299891466758, "shoulder_lift": -0.7401699745125421, "elbow_flex": 0.34406654088673005, "wrist_flex": 1.648071982819942, "wrist_roll": -1.6394422955527717e-05, "gripper": 0.9352194126333464}, "velocities": {"shoulder_pan": -0.0073489955008004945, "shoulder_lift": -0.03367377480316658, "elbow_flex": -0.023793188180211956, "wrist_flex": -0.00879942393828036, "wrist_roll": 1.9102738332628424e-06, "gripper": 0.10320534689967112}, "actuator_forces": {"shoulder_pan": 0.07847825729413671, "shoulder_lift": 0.2910375601134092, "elbow_flex": -0.13918530020828257, "wrist_flex": -0.23991595708912428, "wrist_roll": 5.021595980269147e-05, "gripper": 3.2772633052843503}, "applied_targets": {"shoulder_pan": 0.8126982518474715, "shoulder_lift": -0.739955828655057, "elbow_flex": 0.34388895011508813, "wrist_flex": 1.6478467702947077, "wrist_roll": -1.6340428689498274e-05, "gripper": 0.9380618945312503}, "tcp": {"position_m": [0.13509080858806471, -0.10166523160307997, 0.12174988730004425], "quaternion_wxyz": [0.7385111901486114, 0.24964025572695145, 0.5302844210712785, -0.33328575954421197], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9909, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13201, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 330, "teleop_active": true, "observed_at": 1792583597.3997145, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15360548291958598, -0.12407352308403893, 0.08805686698058375], "quaternion_wxyz": [0.6426030802260404, 0.2950614869917353, 0.6426030805866606, -0.2950614868104038], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249996422554}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249996376387}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499969462544}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249996900088}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256059683105}, "simulation_time": 26.401999999996246, "positions": {"shoulder_pan": 0.8122128174035129, "shoulder_lift": -0.7448376440389347, "elbow_flex": 0.3404687699908438, "wrist_flex": 1.6510758784165271, "wrist_roll": -1.6426694729447563e-05, "gripper": 0.9618313351554674}, "velocities": {"shoulder_pan": -0.013863206562556352, "shoulder_lift": -0.11053919932694806, "elbow_flex": -0.1252041158182238, "wrist_flex": 0.1637915863913899, "wrist_roll": 3.783190431259241e-06, "gripper": 0.06420797416923893}, "actuator_forces": {"shoulder_pan": -0.30881554417328516, "shoulder_lift": -3.2175625894008135, "elbow_flex": -3.35, "wrist_flex": 2.9854642587774833, "wrist_roll": -1.3240456014675106e-06, "gripper": 2.5135702545951517}, "applied_targets": {"shoulder_pan": 0.8119286270585547, "shoulder_lift": -0.7477789719972397, "elbow_flex": 0.33740071396493815, "wrist_flex": 1.6537251593997664, "wrist_roll": -1.6434261110310178e-05, "gripper": 0.9640019335937502}, "tcp": {"position_m": [0.1350583643237013, -0.10154874116694898, 0.12269086066799238], "quaternion_wxyz": [0.7400090649727, 0.248726540389065, 0.5283646043487245, -0.3336952752673201], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9910, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13251, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 331, "teleop_active": true, "observed_at": 1792583597.5413427, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15360548291710524, -0.12407352308093615, 0.08805686699144982], "quaternion_wxyz": [0.642603080383519, 0.295061486912553, 0.6426030804291818, -0.295061486889586], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999549713}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499995438356}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999616032}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999610156}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256048817033}, "simulation_time": 26.50199999999619, "positions": {"shoulder_pan": 0.811941245492476, "shoulder_lift": -0.7514636178749724, "elbow_flex": 0.33526013843522506, "wrist_flex": 1.6538361957342451, "wrist_roll": -1.6485220781470907e-05, "gripper": 1.0007177354789933}, "velocities": {"shoulder_pan": -7.588164845701975e-06, "shoulder_lift": -0.010143560461190066, "elbow_flex": -0.007478515758014794, "wrist_flex": 0.0014472596990292021, "wrist_roll": -9.014720384545376e-07, "gripper": -0.24373556368045993}, "actuator_forces": {"shoulder_pan": 0.001207091607852817, "shoulder_lift": -0.2373562812252885, "elbow_flex": -0.5075482037171355, "wrist_flex": 0.007567205237137387, "wrist_roll": 1.3284679328443016e-05, "gripper": -0.6042781231215031}, "applied_targets": {"shoulder_pan": 0.811942431692487, "shoulder_lift": -0.7517038224158975, "elbow_flex": 0.3347608899256674, "wrist_flex": 1.6538446719269946, "wrist_roll": -1.6472606664953412e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13508605568472365, -0.1015170948934035, 0.12420416883810724], "quaternion_wxyz": [0.74254978058877, 0.24723269559405775, 0.5249456560149248, -0.33455623713798144], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9911, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13301, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 332, "teleop_active": true, "observed_at": 1792583597.6139045, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15360548291679116, -0.12407352308054322, 0.08805686699281698], "quaternion_wxyz": [0.6426030804034595, 0.2950614869025241, 0.6426030804092415, -0.2950614868996151], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999433244}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999942577}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999951715}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999950976}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047449877}, "simulation_time": 26.601999999996135, "positions": {"shoulder_pan": 0.8119421777743181, "shoulder_lift": -0.7514344227735427, "elbow_flex": 0.3354299823068882, "wrist_flex": 1.653919315257941, "wrist_roll": -1.6536898863119213e-05, "gripper": 1.0000077447754965}, "velocities": {"shoulder_pan": -1.6378970313822932e-06, "shoulder_lift": 9.878078164480007e-05, "elbow_flex": -0.004557645408215845, "wrist_flex": 0.0005596667030353274, "wrist_roll": -4.9161854956763e-07, "gripper": 6.499167201381573e-05}, "actuator_forces": {"shoulder_pan": -4.980068399618176e-05, "shoulder_lift": -0.1590466250489726, "elbow_flex": -0.3499930358296979, "wrist_flex": -0.03368365945152618, "wrist_roll": 2.8450346901232743e-05, "gripper": -0.008045556789397779}, "applied_targets": {"shoulder_pan": 0.8119421265338261, "shoulder_lift": -0.7515933033207867, "elbow_flex": 0.3350737040214317, "wrist_flex": 1.6538860914032514, "wrist_roll": -1.650885289325018e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13506648358650478, -0.1014966416766159, 0.12417222748878932], "quaternion_wxyz": [0.7424799816558026, 0.24727270435360663, 0.5250426089021725, -0.3345294387034613], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9912, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13351, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 333, "teleop_active": true, "observed_at": 1792583597.684628, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.15360548291675133, -0.12407352308049345, 0.08805686699298901], "quaternion_wxyz": [0.6426030804059842, 0.2950614869012539, 0.6426030804067167, -0.2950614869008854], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999992845}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999927564}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999993908}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999999381}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047277848}, "simulation_time": 26.70199999999608, "positions": {"shoulder_pan": 0.8119421336166097, "shoulder_lift": -0.7512936334479551, "elbow_flex": 0.33572207608265614, "wrist_flex": 1.6539691086726889, "wrist_roll": -1.657958234506777e-05, "gripper": 0.9999965115440986}, "velocities": {"shoulder_pan": 4.461206917705259e-08, "shoulder_lift": -0.0004379522068904668, "elbow_flex": -0.00029969780410637385, "wrist_flex": 0.00023699563686109505, "wrist_roll": -1.958082037798922e-07, "gripper": -2.233622838047112e-06}, "actuator_forces": {"shoulder_pan": 7.072447260725312e-06, "shoulder_lift": -0.15331197202863223, "elbow_flex": -0.3207379373878325, "wrist_flex": -0.04040200494250712, "wrist_roll": 3.45028541446149e-05, "gripper": 0.0034663968068571194}, "applied_targets": {"shoulder_pan": 0.8119421406655111, "shoulder_lift": -0.751447511226388, "elbow_flex": 0.3354000035618261, "wrist_flex": 1.6539288820784273, "wrist_roll": -1.6545225295781395e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13504360196200607, -0.10147250173285464, 0.12410742889013988], "quaternion_wxyz": [0.7423513082702403, 0.24734612329828756, 0.5252219126785641, -0.3344792562193377], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9913, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13401, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 335, "teleop_active": true, "observed_at": 1792583597.85589, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167463, -0.12407352308048716, 0.08805686699301067], "quaternion_wxyz": [0.6426030804063041, 0.2950614869010931, 0.6426030804063964, -0.2950614869010464], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999123}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999083}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999992866}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999192}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047256185}, "simulation_time": 26.801999999996024, "positions": {"shoulder_pan": 0.8119147789223352, "shoulder_lift": -0.7514184671648152, "elbow_flex": 0.3357845032196567, "wrist_flex": 1.6539506800269173, "wrist_roll": -1.6608840415394053e-05, "gripper": 0.9999966505747918}, "velocities": {"shoulder_pan": -0.013676424775247085, "shoulder_lift": -0.13179617410975716, "elbow_flex": -0.1340662671968317, "wrist_flex": -0.031744391892233624, "wrist_roll": 4.4817716581708105e-06, "gripper": 3.151673467649264e-05}, "actuator_forces": {"shoulder_pan": -0.31931537942057275, "shoulder_lift": -3.1397171309989744, "elbow_flex": -3.3216351791728584, "wrist_flex": -0.687713969593915, "wrist_roll": 1.5364690790845015e-07, "gripper": 0.003387134784020418}, "applied_targets": {"shoulder_pan": 0.8116222472699691, "shoulder_lift": -0.7543012361543068, "elbow_flex": 0.3327263134625349, "wrist_flex": 1.6533254298688123, "wrist_roll": -1.6617803958710396e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13501819237801102, -0.10144570528927083, 0.12403561716595796], "quaternion_wxyz": [0.7422124414405216, 0.24742532170310208, 0.5254153068791914, -0.3344251145593908], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9914, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13451, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 336, "teleop_active": true, "observed_at": 1792583598.1206403, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301338], "quaternion_wxyz": [0.642603080406345, 0.2950614869010729, 0.6426030804063564, -0.29506148690106676], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999166}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999905}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999921}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999104}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253478}, "simulation_time": 26.90199999999597, "positions": {"shoulder_pan": 0.8116372207434042, "shoulder_lift": -0.7541784829571544, "elbow_flex": 0.3324697884116841, "wrist_flex": 1.6533826989239717, "wrist_roll": -1.6670245552443557e-05, "gripper": 0.9999965481809684}, "velocities": {"shoulder_pan": -2.843399620473048e-06, "shoulder_lift": 0.0021896381242009454, "elbow_flex": -0.0009605813482257662, "wrist_flex": 0.0009806737397632763, "wrist_roll": -8.488476801119658e-07, "gripper": 5.010046536302503e-06}, "actuator_forces": {"shoulder_pan": 0.001832707472317452, "shoulder_lift": -0.19554741478759752, "elbow_flex": -0.502719648708478, "wrist_flex": -0.011438382057576746, "wrist_roll": 1.3142316708000812e-05, "gripper": 0.003422734514970216}, "applied_targets": {"shoulder_pan": 0.8116390303432929, "shoulder_lift": -0.7543705849673246, "elbow_flex": 0.33198019742467827, "wrist_flex": 1.6533719060352619, "wrist_roll": -1.6657712687766305e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13532949777714487, -0.10171186563014259, 0.12499080727597235], "quaternion_wxyz": [0.7442179684035143, 0.24622707155468665, 0.5227212973289189, -0.3350735591742814], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9915, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13501, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": true, "observed_at": 1792583598.2577493, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000018}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999936}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.001999999995913, "positions": {"shoulder_pan": 0.8116386386759044, "shoulder_lift": -0.7540678422324157, "elbow_flex": 0.332658197644608, "wrist_flex": 1.6534481462379051, "wrist_roll": -1.672310682181437e-05, "gripper": 0.9999965972102166}, "velocities": {"shoulder_pan": -2.317580569594647e-06, "shoulder_lift": 0.00012984001086288429, "elbow_flex": -0.004580591321949432, "wrist_flex": 0.0005802619242388998, "wrist_roll": -5.000905099399653e-07, "gripper": 2.739938240138862e-07}, "actuator_forces": {"shoulder_pan": -7.967009923959267e-05, "shoulder_lift": -0.1580771172182267, "elbow_flex": -0.35028940395619657, "wrist_flex": -0.03385240882812468, "wrist_roll": 2.8923226459098145e-05, "gripper": 0.003375675401798617}, "applied_targets": {"shoulder_pan": 0.8116385570328947, "shoulder_lift": -0.7542257103954668, "elbow_flex": 0.3323016011707014, "wrist_flex": 1.6534147704996118, "wrist_roll": -1.6694594951885765e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13531054328299816, -0.10169217732738568, 0.12494262825116911], "quaternion_wxyz": [0.7441163127420084, 0.24628569481874632, 0.5228633534101573, -0.3350346001528339], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9916, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13551, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": true, "observed_at": 1792583598.3077292, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000018}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999895}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.101999999995858, "positions": {"shoulder_pan": 0.8116385603904731, "shoulder_lift": -0.7540919449194977, "elbow_flex": 0.33264554972338123, "wrist_flex": 1.653458551529934, "wrist_roll": -1.6731775198407252e-05, "gripper": 0.9999965775840044}, "velocities": {"shoulder_pan": -1.0852983586016238e-07, "shoulder_lift": -5.7882757054058154e-05, "elbow_flex": 8.433372262136613e-05, "wrist_flex": -4.878114937820775e-06, "wrist_roll": 4.4560399259425e-09, "gripper": 1.3152933101361442e-08}, "actuator_forces": {"shoulder_pan": -3.2524989137527882e-06, "shoulder_lift": -0.1334729862048789, "elbow_flex": -0.3434205296500181, "wrist_flex": -0.04369865545140783, "wrist_roll": 3.7109862173954206e-05, "gripper": 0.0033963446663847208}, "applied_targets": {"shoulder_pan": 0.8116385570328947, "shoulder_lift": -0.7542257103954668, "elbow_flex": 0.3323016011707014, "wrist_flex": 1.6534147704996118, "wrist_roll": -1.6694594951885765e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13531060296711003, -0.1016922232753176, 0.12494836447688261], "quaternion_wxyz": [0.744125515535923, 0.24628040058966297, 0.5228504742334135, -0.33503815157036465], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9917, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13601, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": true, "observed_at": 1792583598.4318862, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000016}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.201999999995802, "positions": {"shoulder_pan": 0.8116385571741704, "shoulder_lift": -0.7540933785288333, "elbow_flex": 0.3326470195988893, "wrist_flex": 1.6534584616675043, "wrist_roll": -1.6731703512052897e-05, "gripper": 0.9999965776268456}, "velocities": {"shoulder_pan": -4.740095790036522e-09, "shoulder_lift": -1.129507607361936e-06, "elbow_flex": -2.585987707181139e-07, "wrist_flex": 5.177154913142539e-08, "wrist_roll": -5.3182262491948e-11, "gripper": -5.326299459199707e-10}, "actuator_forces": {"shoulder_pan": -1.366911419609096e-07, "shoulder_lift": -0.1320952240545239, "elbow_flex": -0.3448034055102198, "wrist_flex": -0.043613443752064995, "wrist_roll": 3.7042556936841414e-05, "gripper": 0.0033963153542799773}, "applied_targets": {"shoulder_pan": 0.8116385570328947, "shoulder_lift": -0.7542257103954668, "elbow_flex": 0.3323016011707014, "wrist_flex": 1.6534147704996118, "wrist_roll": -1.6694594951885765e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13531050013566104, -0.10169211420411402, 0.1249482660492748], "quaternion_wxyz": [0.7441255182137753, 0.24628039846212343, 0.5228504717314976, -0.3350381510911376], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9918, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13651, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": true, "observed_at": 1792583598.4783697, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000018}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999989}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.301999999995747, "positions": {"shoulder_pan": 0.811638557037886, "shoulder_lift": -0.7540934046510673, "elbow_flex": 0.33264701003390784, "wrist_flex": 1.6534584627505298, "wrist_roll": -1.6731704465649538e-05, "gripper": 0.9999965776207548}, "velocities": {"shoulder_pan": -1.7691027142542705e-10, "shoulder_lift": -1.9330114189618554e-08, "elbow_flex": -5.11859341283884e-09, "wrist_flex": -3.244533974729624e-10, "wrist_roll": 3.971182263171335e-13, "gripper": 1.0325727718547838e-11}, "actuator_forces": {"shoulder_pan": -4.818730303668417e-09, "shoulder_lift": -0.13207022152971604, "elbow_flex": -0.34479402983305363, "wrist_flex": -0.043614478455310746, "wrist_roll": 3.7043458476982566e-05, "gripper": 0.003396320877754988}, "applied_targets": {"shoulder_pan": 0.8116385570328947, "shoulder_lift": -0.7542257103954668, "elbow_flex": 0.3323016011707014, "wrist_flex": 1.6534147704996118, "wrist_roll": -1.6694594951885765e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13531050050657759, -0.10169211456540089, 0.12494827078291672], "quaternion_wxyz": [0.7441255282621897, 0.24628039266934362, 0.5228504576916038, -0.33503815494183736], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9919, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13701, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": true, "observed_at": 1792583598.5892456, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000016}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999895}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.40199999999569, "positions": {"shoulder_pan": 0.8116385570330484, "shoulder_lift": -0.7540934051025265, "elbow_flex": 0.3326470099720049, "wrist_flex": 1.6534584627423277, "wrist_roll": -1.6731704457517073e-05, "gripper": 0.9999965776209644}, "velocities": {"shoulder_pan": -5.608164397884631e-12, "shoulder_lift": -3.398013339912509e-10, "elbow_flex": 3.536016012614225e-11, "wrist_flex": 3.14345052666789e-12, "wrist_roll": -2.4829473199935246e-15, "gripper": 3.492219634421757e-15}, "actuator_forces": {"shoulder_pan": -1.482476363889873e-10, "shoulder_lift": -0.13206978919083667, "elbow_flex": -0.3447939736705621, "wrist_flex": -0.043614470526335936, "wrist_roll": 3.7043450713376835e-05, "gripper": 0.003396320678234588}, "applied_targets": {"shoulder_pan": 0.8116385570328947, "shoulder_lift": -0.7542257103954668, "elbow_flex": 0.3323016011707014, "wrist_flex": 1.6534147704996118, "wrist_roll": -1.6694594951885765e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13531050050983962, -0.10169211456778385, 0.1249482708490659], "quaternion_wxyz": [0.7441255284166789, 0.24628039257978862, 0.5228504574768106, -0.3350381549997445], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9920, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13751, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": true, "observed_at": 1792583598.6355512, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000016}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.501999999995636, "positions": {"shoulder_pan": 0.8116385570328991, "shoulder_lift": -0.754093405110421, "elbow_flex": 0.332647009972705, "wrist_flex": 1.6534584627424254, "wrist_roll": -1.673170445756558e-05, "gripper": 0.9999965776209644}, "velocities": {"shoulder_pan": -1.6274261820949095e-13, "shoulder_lift": -5.809859654463386e-12, "elbow_flex": -1.4729075916364332e-13, "wrist_flex": 2.5531546230338314e-14, "wrist_roll": 5.86478874535364e-17, "gripper": -3.373875476355712e-15}, "actuator_forces": {"shoulder_pan": -4.320099833421409e-12, "shoulder_lift": -0.13206978163282201, "elbow_flex": -0.3447939743359143, "wrist_flex": -0.04361447062137813, "wrist_roll": 3.704345075965926e-05, "gripper": 0.003396320678234588}, "applied_targets": {"shoulder_pan": 0.8116385570328947, "shoulder_lift": -0.7542257103954668, "elbow_flex": 0.3323016011707014, "wrist_flex": 1.6534147704996118, "wrist_roll": -1.6694594951885765e-05, "gripper": 0.9999999799978735}, "tcp": {"position_m": [0.13531050050974647, -0.10169211456765315, 0.12494827084987274], "quaternion_wxyz": [0.7441255284187757, 0.24628039257855827, 0.5228504574739276, -0.33503815500049144], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9921, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13801, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": false, "observed_at": 1792583598.7535741, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000165}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999916}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999895}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.60199999999558, "positions": {"shoulder_pan": 0.8116385583752279, "shoulder_lift": -0.7540881692000757, "elbow_flex": 0.33267595186035614, "wrist_flex": 1.653459014140729, "wrist_roll": -1.6732189337549967e-05, "gripper": 0.9999965337319614}, "velocities": {"shoulder_pan": 6.71166305852209e-07, "shoulder_lift": 0.0026179552397003042, "elbow_flex": 0.014470943828845522, "wrist_flex": 0.00027569915186232465, "wrist_roll": -2.4243999303823244e-07, "gripper": -2.1944501498118164e-05}, "actuator_forces": {"shoulder_pan": 0.0, "shoulder_lift": 3.410605131648481e-13, "elbow_flex": 0.0, "wrist_flex": 0.0, "wrist_roll": -3.469446951953614e-18, "gripper": 0.0}, "applied_targets": {"shoulder_pan": 0.8116385570328953, "shoulder_lift": -0.7540934051105551, "elbow_flex": 0.33264700997269847, "wrist_flex": 1.6534584627424254, "wrist_roll": -1.673170445756389e-05, "gripper": 0.9999965776209644}, "tcp": {"position_m": [0.13531050050974644, -0.10169211456765231, 0.12494827084988995], "quaternion_wxyz": [0.7441255284188175, 0.24628039257853343, 0.52285045747387, -0.33503815500050577], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9922, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13851, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": false, "observed_at": 1792583598.7979639, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000018}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999895}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.701999999995525, "positions": {"shoulder_pan": 0.8116385550799617, "shoulder_lift": -0.7539549184479309, "elbow_flex": 0.3329828597711874, "wrist_flex": 1.6535023821325854, "wrist_roll": -1.676905585016241e-05, "gripper": 0.9999931493301907}, "velocities": {"shoulder_pan": 8.806947483164273e-08, "shoulder_lift": -0.00021398044544255836, "elbow_flex": 0.000376821319374901, "wrist_flex": 5.1791419284395954e-06, "wrist_roll": -5.07730600366544e-10, "gripper": -1.3494380739446166e-07}, "actuator_forces": {"shoulder_pan": 1.8725722839008085e-06, "shoulder_lift": -0.13804854963916569, "elbow_flex": -0.33557934310027804, "wrist_flex": -0.043853252488816, "wrist_roll": 3.729148769855001e-05, "gripper": 0.0034228689498831955}, "applied_targets": {"shoulder_pan": 0.8116385570328953, "shoulder_lift": -0.7540934051105551, "elbow_flex": 0.33264700997269847, "wrist_flex": 1.6534584627424254, "wrist_roll": -1.673170445756389e-05, "gripper": 0.9999965776209644}, "tcp": {"position_m": [0.13528524671197972, -0.1016654985329907, 0.12487526643965226], "quaternion_wxyz": [0.7439860391368424, 0.24636046552162236, 0.5230460086539569, -0.3349838315928203], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9923, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13901, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": false, "observed_at": 1792583598.841985, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000018}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999895}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.80199999999547, "positions": {"shoulder_pan": 0.8116385571406519, "shoulder_lift": -0.7539609058579452, "elbow_flex": 0.33299243235137194, "wrist_flex": 1.653502095973248, "wrist_roll": -1.676875476873152e-05, "gripper": 0.99999317601697}, "velocities": {"shoulder_pan": -1.660404756053426e-09, "shoulder_lift": -5.581849305852662e-06, "elbow_flex": 2.0647090204602794e-06, "wrist_flex": -4.8387209214823026e-08, "wrist_roll": -4.923225900261898e-11, "gripper": 1.1338376178499984e-09}, "actuator_forces": {"shoulder_pan": -1.064687467078329e-07, "shoulder_lift": -0.13225803067382458, "elbow_flex": -0.34481013082807976, "wrist_flex": -0.04355545154794527, "wrist_roll": 3.698435087084659e-05, "gripper": 0.003395543022520542}, "applied_targets": {"shoulder_pan": 0.8116385570328953, "shoulder_lift": -0.7540934051105551, "elbow_flex": 0.33264700997269847, "wrist_flex": 1.6534584627424254, "wrist_roll": -1.673170445756389e-05, "gripper": 0.9999965776209644}, "tcp": {"position_m": [0.13528457858862947, -0.10166479485216474, 0.124874264309425], "quaternion_wxyz": [0.7439850577174089, 0.2463610289426998, 0.5230473835262751, -0.3349834501849832], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9924, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 13951, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": false, "observed_at": 1792583598.9495504, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000018}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999895}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 27.901999999995414, "positions": {"shoulder_pan": 0.8116385570415422, "shoulder_lift": -0.7539610357957353, "elbow_flex": 0.33299243465256334, "wrist_flex": 1.6535020989942852, "wrist_roll": -1.676875901402415e-05, "gripper": 0.9999931757631586}, "velocities": {"shoulder_pan": -2.6976897912665195e-10, "shoulder_lift": -9.52694555585324e-08, "elbow_flex": -4.3868636062134125e-08, "wrist_flex": 1.7370649990209037e-09, "wrist_roll": -8.060892586629144e-13, "gripper": -2.7063802362645944e-11}, "actuator_forces": {"shoulder_pan": -8.390429684368428e-09, "shoulder_lift": -0.1321336054143103, "elbow_flex": -0.3448097802479424, "wrist_flex": -0.043558581627621606, "wrist_roll": 3.6988600712474506e-05, "gripper": 0.00339580257389116}, "applied_targets": {"shoulder_pan": 0.8116385570328953, "shoulder_lift": -0.7540934051105551, "elbow_flex": 0.33264700997269847, "wrist_flex": 1.6534584627424254, "wrist_roll": -1.673170445756389e-05, "gripper": 0.9999965776209644}, "tcp": {"position_m": [0.13528457707219105, -0.10166479323318418, 0.12487427855548197], "quaternion_wxyz": [0.7439850931480639, 0.24636100859699275, 0.523047333901227, -0.3349834639431582], "frame": "world"}, "contact_count": 4, "warning_count": 0}
{"cursor": 9925, "session_id": "s_1d848696f460406abd642d1b655e6667", "sequence": 14001, "status": "ready", "lease_epoch": "[redacted for publication]", "active_run_id": null, "teleop_sequence": 337, "teleop_active": false, "observed_at": 1792583599.002913, "task": {"name": "pick_place", "object_initial_position_m": [0.18460904999305738, 5.799917456049495e-06, 0.10012512304026686], "destination_position_m": [0.14039968358821892, -0.10456627691997465, 0.10012512304026686], "object_mass_kg": 0.025, "object_size_m": [0.016, 0.024, 0.04], "gripper_open": 1.0, "gripper_closed": -0.17453, "grasp": [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0], "above": [-0.0012595627935605923, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "transfer": [0.7987404372064395, -0.9725076738060405, 0.12795397735302408, 1.6318390700722354, 7.937669061175573e-19, 1.0], "approach_waypoints": [[-0.0012595632951270318, -0.9505009536257996, 0.15984142150607542, 1.644877658908412, 7.751249094981374e-19, 1.0], [-0.0012595634913417494, -0.9252535203832717, 0.19269379909247283, 1.6538277025356267, 7.846403401469955e-19, 1.0], [-0.0012595468422520212, -0.8967061884593509, 0.2263433163972979, 1.65806, 7.602711182997646e-19, 1.0], [-0.00125953988573392, -0.8638857765370948, 0.25970950380925967, 1.65806, 7.354957740740708e-19, 1.0], [-0.0012595392681062367, -0.8215520092133917, 0.2879476937499185, 1.65806, 7.058011895124082e-19, 1.0], [-0.0012595389466532121, -0.7679512007917555, 0.30956711670271914, 1.65806, 6.915176854031264e-19, 1.0], [-0.0012595396293993242, -0.7027616667010593, 0.32412937405977166, 1.65806, 7.180121427924147e-19, 1.0], [-0.0012595395796406632, -0.6255870455032067, 0.3308188235033563, 1.65806, 7.367735726374947e-19, 1.0], [-0.0012595404513137376, -0.5375628350526103, 0.32978083968745503, 1.65806, 7.0459501618910675e-19, 1.0], [-0.0012595473325921985, -0.4415468824867707, 0.32232039163444703, 1.65806, 7.659692317942385e-19, 1.0]], "place": [0.7987404595112021, -0.6258273488468484, 0.33102244372638695, 1.65806, 8.277820914126255e-19, 1.0], "contact_model": "MuJoCo frictional contacts; no weld or object pose writes"}, "object": {"position_m": [0.1536054829167458, -0.12407352308048637, 0.08805686699301361], "quaternion_wxyz": [0.642603080406349, 0.2950614869010704, 0.6426030804063513, -0.2950614869010691], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000018}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999936}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.012068256047253242}, "simulation_time": 28.00199999999536, "positions": {"shoulder_pan": 0.8116385570332362, "shoulder_lift": -0.7539610380129625, "elbow_flex": 0.33299243386776367, "wrist_flex": 1.6535020989899847, "wrist_roll": -1.6768758997585698e-05, "gripper": 0.9999931757654906}, "velocities": {"shoulder_pan": -1.1880273318697248e-11, "shoulder_lift": -1.6708249120497432e-09, "elbow_flex": 6.164421332074832e-11, "wrist_flex": -1.7636524212210346e-11, "wrist_roll": 5.632394821251386e-15, "gripper": 1.0508582717761137e-12}, "actuator_forces": {"shoulder_pan": -3.292370820418e-10, "shoulder_lift": -0.13213148254760654, "elbow_flex": -0.34480904055749306, "wrist_flex": -0.04355857501673199, "wrist_roll": 3.69885829302162e-05, "gripper": 0.003395800169641916}, "applied_targets": {"shoulder_pan": 0.8116385570328953, "shoulder_lift": -0.7540934051105551, "elbow_flex": 0.33264700997269847, "wrist_flex": 1.6534584627424254, "wrist_roll": -1.673170445756389e-05, "gripper": 0.9999965776209644}, "tcp": {"position_m": [0.1352845771153111, -0.10166479327683292, 0.12487427896456862], "quaternion_wxyz": [0.7439850940324937, 0.24636100808804168, 0.5230473326647618, -0.3349834642838102], "frame": "world"}, "contact_count": 4, "warning_count": 0}
