{"tick": 0, "source_target": [0.5323953032493591, -1.377174735069275, 1.3272557258605957, 1.622976541519165, -2.1016993522644043, 0.699999988079071], "source_tool_goal_m": [0.10455764081842737, -0.22947108154918294, 0.0845082148341195], "target_tool_goal_m": [0.2487121230797208, -0.0019507633879976385, 0.16032274118365808], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.00532387287649848, "joint2": 1.4966413989477203, "joint3": 1.403145199159128, "joint4": -1.3011479368573835, "joint5": 0.003529457790291577, "joint6": -0.0009383873301482663, "gripper": 0.03752399936097009}, "target_simulation_time": 0.08000000000000006, "target_positions": {"joint1": -0.0013167217339054608, "joint2": 1.4116577734926437, "joint3": 1.4595899142037192, "joint4": -1.3003238541223228, "joint5": 0.0003444912466856906, "joint6": -0.00018405465841061036, "gripper": 0.03752420017789877}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10006832832704898], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061353299067769144}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061353299067769144}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061353299067769144}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061353299067769144}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -5.304070083347878e-05}, "target_sequence": 40, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 1, "source_target": [0.5311146378517151, -1.3779723644256592, 1.330910325050354, 1.6210576295852661, -2.102341651916504, 0.699999988079071], "source_tool_goal_m": [0.10422410650903981, -0.22943635032454168, 0.08416543785240621], "target_tool_goal_m": [0.2486168252098937, -0.0016352429139477025, 0.1599799642019448], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.004730923764959199, "joint2": 1.4868852850435483, "joint3": 1.3928262289955802, "joint4": -1.2905043574813537, "joint5": 0.0025621475460013013, "joint6": -0.0007739580055238842, "gripper": 0.03752399936097009}, "target_simulation_time": 0.16000000000000011, "target_positions": {"joint1": -0.00258614372510837, "joint2": 1.4483835598251007, "joint3": 1.4250081846701916, "joint4": -1.2881830760371022, "joint5": 0.0006806013074259942, "joint6": -0.00031859289287879496, "gripper": 0.037522857737115285}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005601211809205], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06132028463869186}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06132028463869186}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06132028463869186}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06132028463869186}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.53569097904122e-05}, "target_sequence": 80, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 2, "source_target": [0.5307539701461792, -1.3792927265167236, 1.3313435316085815, 1.6185894012451172, -2.1018335819244385, 0.699999988079071], "source_tool_goal_m": [0.10433947242558518, -0.22978574596371432, 0.08434185535392995], "target_tool_goal_m": [0.24834398078494324, -0.0018726193624998128, 0.16015638170346852], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.005550208482586749, "joint2": 1.4805621961933548, "joint3": 1.3895921320199323, "joint4": -1.2896879071774316, "joint5": 0.0026062125233302378, "joint6": -0.0008296765636361658, "gripper": 0.03752399936097009}, "target_simulation_time": 0.24000000000000019, "target_positions": {"joint1": -0.003083483353160915, "joint2": 1.4879072180703865, "joint3": 1.3912138242688692, "joint4": -1.2880946838742278, "joint5": 0.0009434729731854995, "joint6": -0.00043001607202899716, "gripper": 0.037523018017670245}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005366518159045], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061313983136901985}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061313983136901985}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061313983136901985}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061313983136901985}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.770384629201098e-05}, "target_sequence": 120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 3, "source_target": [0.5332671999931335, -1.3842602968215942, 1.338860273361206, 1.6154097318649292, -2.1021084785461426, 0.699999988079071], "source_tool_goal_m": [0.10460057092259592, -0.22917883912816284, 0.08423941674330165], "target_tool_goal_m": [0.24899333261295814, -0.0018785923873818767, 0.16005394309284024], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.005603553186395411, "joint2": 1.4863462521214255, "joint3": 1.3925321766862035, "joint4": -1.2884433266208166, "joint5": 0.00262317708956576, "joint6": -0.0008757381428669994, "gripper": 0.03752399936097009}, "target_simulation_time": 0.32000000000000023, "target_positions": {"joint1": -0.0032592643710515194, "joint2": 1.511713824924758, "joint3": 1.3752219980593634, "joint4": -1.288655980051005, "joint5": 0.001170623328831785, "joint6": -0.0005269946329764756, "gripper": 0.0375232103053036}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005321814660792], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131278249174478}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131278249174478}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131278249174478}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131278249174478}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.815088127454239e-05}, "target_sequence": 160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 4, "source_target": [0.5299986600875854, -1.3871821165084839, 1.341412901878357, 1.6100873947143555, -2.1017184257507324, 0.699999988079071], "source_tool_goal_m": [0.10427665028896732, -0.22999574518813334, 0.08442161626185313], "target_tool_goal_m": [0.24812975623148995, -0.0018954988363675887, 0.1602361426113917], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.005600514896358742, "joint2": 1.487967135204845, "joint3": 1.3946406554283621, "joint4": -1.2949779438652118, "joint5": 0.0027639611666587186, "joint6": -0.0009490287330450812, "gripper": 0.03752399936097009}, "target_simulation_time": 0.4000000000000003, "target_positions": {"joint1": -0.0033445334017121555, "joint2": 1.5148693083881166, "joint3": 1.376034847366943, "joint4": -1.2914137995084134, "joint5": 0.0013759544858324593, "joint6": -0.0006187757762202926, "gripper": 0.03752343871130591}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005313300410597], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131255380314595}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131255380314595}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131255380314595}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131255380314595}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.823602377649396e-05}, "target_sequence": 200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 5, "source_target": [0.5308529734611511, -1.3949735164642334, 1.3467689752578735, 1.6074533462524414, -2.1033599376678467, 0.699999988079071], "source_tool_goal_m": [0.10439198260400843, -0.22982762063888346, 0.0851171893243957], "target_tool_goal_m": [0.24832598461928196, -0.0019361319667744183, 0.16093171567393427], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.005631824693387171, "joint2": 1.4887741961405543, "joint3": 1.398233799132441, "joint4": -1.297638466511772, "joint5": 0.002941439674615477, "joint6": -0.0010332655838835839, "gripper": 0.03752399936097009}, "target_simulation_time": 0.48000000000000037, "target_positions": {"joint1": -0.0034273429652841685, "joint2": 1.5054456432890007, "joint3": 1.3854570514984885, "joint4": -1.2942124454040973, "joint5": 0.0015770347658846178, "joint6": -0.0007084590760133771, "gripper": 0.03752349955605041}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311678807458], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131251024720136}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131251024720136}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131251024720136}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131251024720136}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825223980788664e-05}, "target_sequence": 240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 6, "source_target": [0.5316411852836609, -1.4000619649887085, 1.3526887893676758, 1.600999355316162, -2.1016945838928223, 0.699999988079071], "source_tool_goal_m": [0.10470066820014447, -0.23002942338134877, 0.08524537588922389], "target_tool_goal_m": [0.24826040199786142, -0.002292634307067062, 0.1610599022387625], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006522718944014818, "joint2": 1.4892420472603152, "joint3": 1.3991123776219625, "joint4": -1.2980721873708783, "joint5": 0.003671429623646697, "joint6": -0.0012635901309034018, "gripper": 0.03752399936097009}, "target_simulation_time": 0.5600000000000004, "target_positions": {"joint1": -0.003734766118246713, "joint2": 1.492916981877088, "joint3": 1.3958053112310924, "joint4": -1.2947829286935044, "joint5": 0.0018287483718250278, "joint6": -0.0008257564697441224, "gripper": 0.03752367581007829}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311369961829], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250195165031}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250195165031}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250195165031}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250195165031}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825532826416902e-05}, "target_sequence": 280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 7, "source_target": [0.5295165181159973, -1.4069054126739502, 1.362113356590271, 1.5941063165664673, -2.10444712638855, 0.699999988079071], "source_tool_goal_m": [0.10428505840613579, -0.23020165768167383, 0.08521908246799648], "target_tool_goal_m": [0.2479463110252801, -0.0019813887462808983, 0.16103360881753506], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.005662607743724862, "joint2": 1.4880237549841209, "joint3": 1.3979524426656622, "joint4": -1.2976909036839182, "joint5": 0.0031192370991839596, "joint6": -0.0011677251904762176, "gripper": 0.03752399936097009}, "target_simulation_time": 0.6400000000000005, "target_positions": {"joint1": -0.003856615675149859, "joint2": 1.483644143449723, "joint3": 1.4010235055814146, "joint4": -1.2950777716402868, "joint5": 0.0020166872788599517, "joint6": -0.0009039050460194049, "gripper": 0.03752343584287582}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311311140055], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500371705256}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500371705256}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500371705256}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500371705256}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825591648190743e-05}, "target_sequence": 320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 8, "source_target": [0.5328451991081238, -1.4137738943099976, 1.3702104091644287, 1.5884952545166016, -2.103569507598877, 0.697265625], "source_tool_goal_m": [0.10487242343585758, -0.22980976311496992, 0.08537404217279372], "target_tool_goal_m": [0.24852478961301405, -0.0023648206806703605, 0.16118856852233232], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006639873080139663, "joint2": 1.4869089888386, "joint3": 1.3976931173453382, "joint4": -1.2948798593228166, "joint5": 0.0038651883754473224, "joint6": -0.0013945384717588404, "gripper": 0.037377421875000004}, "target_simulation_time": 0.7200000000000005, "target_positions": {"joint1": -0.0040141956591602575, "joint2": 1.4806549480196471, "joint3": 1.4015184797096956, "joint4": -1.2950617700563904, "joint5": 0.002242490832943385, "joint6": -0.0010066227524370506, "gripper": 0.03752020469010976}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311299937047], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250007079356}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250007079356}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250007079356}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250007079356}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825602851198709e-05}, "target_sequence": 360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 9, "source_target": [0.5330436825752258, -1.4205621480941772, 1.3775558471679688, 1.5828800201416016, -2.1044840812683105, 0.699999988079071], "source_tool_goal_m": [0.10493262042710291, -0.22982521203254588, 0.08561521576048721], "target_tool_goal_m": [0.24853366783257164, -0.0024252560846003924, 0.1614297421100258], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006742982731269081, "joint2": 1.485408951534732, "joint3": 1.397308926651378, "joint4": -1.294194392487143, "joint5": 0.0040529049824412485, "joint6": -0.0014873037086358067, "gripper": 0.03752399936097009}, "target_simulation_time": 0.8000000000000006, "target_positions": {"joint1": -0.004209329356839028, "joint2": 1.4811656250654819, "joint3": 1.400963334488689, "joint4": -1.2949199339312074, "joint5": 0.002476427387757272, "joint6": -0.0011106758435042144, "gripper": 0.03752044498153056}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311297803357], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001348283}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001348283}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001348283}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250001348283}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825604984889155e-05}, "target_sequence": 400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 10, "source_target": [0.5307968258857727, -1.4261809587478638, 1.389242172241211, 1.5741486549377441, -2.104174852371216, 0.699999988079071], "source_tool_goal_m": [0.10444930504319769, -0.22994552548436556, 0.08505477986022016], "target_tool_goal_m": [0.24824090310293734, -0.002032906026149844, 0.16086930620975876], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.00563786356114327, "joint2": 1.4863042388421122, "joint3": 1.395910255846936, "joint4": -1.2944374150428903, "joint5": 0.0034188426175366968, "joint6": -0.0013609599370011723, "gripper": 0.03752399936097009}, "target_simulation_time": 0.8800000000000007, "target_positions": {"joint1": -0.004273692126379596, "joint2": 1.482437149559971, "joint3": 1.399578898752178, "joint4": -1.2948109007258082, "joint5": 0.0026138601259042115, "joint6": -0.0011694475719345875, "gripper": 0.037520820677572723}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311297396982], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000256794}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000256794}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000256794}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000256794}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605391264089e-05}, "target_sequence": 440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 11, "source_target": [0.5337949991226196, -1.433721661567688, 1.3922706842422485, 1.570954442024231, -2.1025149822235107, 0.699999988079071], "source_tool_goal_m": [0.10516004939607967, -0.22990434315330052, 0.08601856020170963], "target_tool_goal_m": [0.24854838983832142, -0.002661478289761203, 0.16183308655124823], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.007278894572819661, "joint2": 1.4843944856315752, "joint3": 1.3979330137223516, "joint4": -1.2943707839384735, "joint5": 0.004614148159770519, "joint6": -0.001700413387853946, "gripper": 0.03752399936097009}, "target_simulation_time": 0.9600000000000007, "target_positions": {"joint1": -0.004523993872126805, "joint2": 1.483537956141464, "joint3": 1.398978989524607, "joint4": -1.2947824388117901, "joint5": 0.002846371084241654, "joint6": -0.00127834175123176, "gripper": 0.03752103969752947}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311297319587], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000489115}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000489115}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000489115}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000489115}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605468659124e-05}, "target_sequence": 480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 12, "source_target": [0.5353248119354248, -1.4378503561019897, 1.401096224784851, 1.5630549192428589, -2.1018600463867188, 0.6986327767372131], "source_tool_goal_m": [0.10548801783776697, -0.22982261783253033, 0.08557791630064177], "target_tool_goal_m": [0.24874712948714683, -0.002927687897968564, 0.16139244265018035], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.007960093846689805, "joint2": 1.485956587980294, "joint3": 1.397596299545424, "joint4": -1.2936452051091651, "joint5": 0.005134172473055312, "joint6": -0.001885791791760694, "gripper": 0.03745070902041027}, "target_simulation_time": 1.0400000000000007, "target_positions": {"joint1": -0.005112088330567496, "joint2": 1.483856727422601, "joint3": 1.3989188055177804, "joint4": -1.2946058122434663, "joint5": 0.0031266161208030703, "joint6": -0.001408402025783407, "gripper": 0.03751959253401897}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311297304845], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000009311}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000009311}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000009311}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000009311}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605483401498e-05}, "target_sequence": 520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 13, "source_target": [0.5315229892730713, -1.4452667236328125, 1.4109828472137451, 1.5556622743606567, -2.103766441345215, 0.699999988079071], "source_tool_goal_m": [0.10476961241365794, -0.23018792117257053, 0.08558357444479231], "target_tool_goal_m": [0.24814294413449114, -0.002415372109724515, 0.1613981007943309], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006640880503574867, "joint2": 1.48509776019246, "joint3": 1.3968429489595942, "joint4": -1.295264588707991, "joint5": 0.004141724514473569, "joint6": -0.0016776491143263715, "gripper": 0.03752399936097009}, "target_simulation_time": 1.1200000000000008, "target_positions": {"joint1": -0.005263142774062645, "joint2": 1.4839081039402318, "joint3": 1.39884527204866, "joint4": -1.2946785815379995, "joint5": 0.0032936727701526926, "joint6": -0.0014731087733719462, "gripper": 0.03751941882520043}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311297302036], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000017645}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000017645}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000017645}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000017645}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486210362e-05}, "target_sequence": 560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 14, "source_target": [0.5348249077796936, -1.4541857242584229, 1.4153579473495483, 1.5534696578979492, -2.1021010875701904, 0.699999988079071], "source_tool_goal_m": [0.10538362184851024, -0.2298539679482757, 0.08660492118247334], "target_tool_goal_m": [0.2486790318130181, -0.0028449786942204764, 0.16241944753201193], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.005263142774062645, "joint2": 1.4839081039402318, "joint3": 1.39884527204866, "joint4": -1.2946785815379995, "joint5": 0.0032936727701526926, "joint6": -0.0014731087733719462, "gripper": 0.03752399936097009}, "target_simulation_time": 1.2000000000000008, "target_positions": {"joint1": -0.005269189281757975, "joint2": 1.4839143346665673, "joint3": 1.3988351851690874, "joint4": -1.2946936101071087, "joint5": 0.003309564276822582, "joint6": -0.0014785441429138477, "gripper": 0.037519814468153556}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.10005311297301502], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000003455}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000003455}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000003455}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000003455}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486744657e-05}, "target_sequence": 600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 15, "source_target": [0.5357048511505127, -1.458602786064148, 1.425158977508545, 1.5426608324050903, -2.1004011631011963, 0.699999988079071], "source_tool_goal_m": [0.10574794973573902, -0.23010799969947346, 0.08609746846734574], "target_tool_goal_m": [0.24858725828906378, -0.003271768368672818, 0.16191199481688434], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.008903455379331723, "joint2": 1.4845212989545273, "joint3": 1.3983360554860524, "joint4": -1.2945464831052946, "joint5": 0.005731715472011345, "joint6": -0.0021213883014745754, "gripper": 0.03752399936097009}, "target_simulation_time": 1.280000000000001, "target_positions": {"joint1": -0.005770249048758392, "joint2": 1.483931128855711, "joint3": 1.398819507610544, "joint4": -1.2946714068528338, "joint5": 0.0035628566204717453, "joint6": -0.0016044356219949239, "gripper": 0.03752018196500864}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.100053112973014], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000066}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000066}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000066}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000066}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486845965e-05}, "target_sequence": 640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 16, "source_target": [0.5336994528770447, -1.4669578075408936, 1.4325249195098877, 1.5398190021514893, -2.1034460067749023, 0.699999988079071], "source_tool_goal_m": [0.10520404742846606, -0.23001500438516526, 0.08659301970160665], "target_tool_goal_m": [0.24846480931181103, -0.002743421625057117, 0.16240754605114524], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.005770249048758392, "joint2": 1.483931128855711, "joint3": 1.398819507610544, "joint4": -1.2946714068528338, "joint5": 0.0035628566204717453, "joint6": -0.0016044356219949239, "gripper": 0.03752399936097009}, "target_simulation_time": 1.360000000000001, "target_positions": {"joint1": -0.005864531501585001, "joint2": 1.483933991181039, "joint3": 1.3988170759388625, "joint4": -1.2946691573354583, "joint5": 0.0036207287135755113, "joint6": -0.0016175945340726361, "gripper": 0.0375199365113958}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 17, "source_target": [0.5334476232528687, -1.4735184907913208, 1.440604567527771, 1.5329086780548096, -2.103987455368042, 0.699999988079071], "source_tool_goal_m": [0.10521550893204594, -0.23013755208743758, 0.0866899219001385], "target_tool_goal_m": [0.24835808741637838, -0.002800391644665922, 0.16250444824967708], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.005864531501585001, "joint2": 1.483933991181039, "joint3": 1.3988170759388625, "joint4": -1.2946691573354583, "joint5": 0.0036207287135755113, "joint6": -0.0016175945340726361, "gripper": 0.03752399936097009}, "target_simulation_time": 1.440000000000001, "target_positions": {"joint1": -0.005864173151614869, "joint2": 1.4839339828833091, "joint3": 1.398817082943799, "joint4": -1.2946692048103219, "joint5": 0.0036198368698013793, "joint6": -0.0016172493345124278, "gripper": 0.03752003409353173}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 18, "source_target": [0.5351645350456238, -1.4797897338867188, 1.4485139846801758, 1.5269749164581299, -2.1045894622802734, 0.699999988079071], "source_tool_goal_m": [0.1055221490815409, -0.2299361420840812, 0.08674905664440315], "target_tool_goal_m": [0.24865720345845457, -0.003001776128084855, 0.16256358299394175], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.005864173151614869, "joint2": 1.4839339828833091, "joint3": 1.398817082943799, "joint4": -1.2946692048103219, "joint5": 0.0036198368698013793, "joint6": -0.0016172493345124278, "gripper": 0.03752399936097009}, "target_simulation_time": 1.5200000000000011, "target_positions": {"joint1": -0.005864174379462747, "joint2": 1.4839339829112315, "joint3": 1.398817082939095, "joint4": -1.2946692038378778, "joint5": 0.0036198499304840467, "joint6": -0.0016172582730481176, "gripper": 0.03752011907812608}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 19, "source_target": [0.5321464538574219, -1.4858111143112183, 1.4549939632415771, 1.5187568664550781, -2.106330156326294, 0.699999988079071], "source_tool_goal_m": [0.10522649370931128, -0.23069238494792293, 0.08699130209883578], "target_tool_goal_m": [0.24785935663120817, -0.0030212440148911623, 0.16280582844837438], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.008279221304729937, "joint2": 1.4812762424871058, "joint3": 1.3989198144935524, "joint4": -1.2972068239577417, "joint5": 0.005232815618593305, "joint6": -0.0020444913007799446, "gripper": 0.03752399936097009}, "target_simulation_time": 1.6000000000000012, "target_positions": {"joint1": -0.005941146293051189, "joint2": 1.4838550344656691, "joint3": 1.3988201540345626, "joint4": -1.2950373843255467, "joint5": 0.0038008414898034913, "joint6": -0.0017006211618585533, "gripper": 0.03752004906796254}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 20, "source_target": [0.532971203327179, -1.4917316436767578, 1.4619559049606323, 1.5156558752059937, -2.104851722717285, 0.699999988079071], "source_tool_goal_m": [0.10521190272454041, -0.23032746249716102, 0.08709324919474344], "target_tool_goal_m": [0.24818457993777324, -0.002869309149619306, 0.16290777554428204], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.007798938666008392, "joint2": 1.481596045772865, "joint3": 1.3996133554532646, "joint4": -1.2965533894157721, "joint5": 0.005043751603057806, "joint6": -0.002029934506859599, "gripper": 0.03752399936097009}, "target_simulation_time": 1.6800000000000013, "target_positions": {"joint1": -0.0060105156416736675, "joint2": 1.483778657979927, "joint3": 1.3988457900073616, "joint4": -1.2953063500636461, "joint5": 0.0039668707840293665, "joint6": -0.0017740048479025522, "gripper": 0.0375202715603159}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 21, "source_target": [0.5346658825874329, -1.4973512887954712, 1.4657676219940186, 1.511062741279602, -2.105276107788086, 0.699999988079071], "source_tool_goal_m": [0.10569439580574963, -0.23043243109049846, 0.08761403532815101], "target_tool_goal_m": [0.24827283415785953, -0.0033465450663730336, 0.1634285616776896], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.00902276191922697, "joint2": 1.4805329520847077, "joint3": 1.4007014482616345, "joint4": -1.2968345369773704, "joint5": 0.005983647170040978, "joint6": -0.0023086329514109055, "gripper": 0.03752399936097009}, "target_simulation_time": 1.7600000000000013, "target_positions": {"joint1": -0.006272857505568999, "joint2": 1.4835126237842482, "joint3": 1.3989039035430235, "joint4": -1.2955538803911444, "joint5": 0.004206141948582717, "joint6": -0.0018853650799594704, "gripper": 0.03752046741334764}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 22, "source_target": [0.5353882312774658, -1.5019936561584473, 1.476516842842102, 1.5072438716888428, -2.1111066341400146, 0.6986327767372131], "source_tool_goal_m": [0.10541887739376427, -0.22964263017408057, 0.0869299078678819], "target_tool_goal_m": [0.24888399139716427, -0.0027966037887052217, 0.1627444342174205], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006272857505568999, "joint2": 1.4835126237842482, "joint3": 1.3989039035430235, "joint4": -1.2955538803911444, "joint5": 0.004206141948582717, "joint6": -0.0018853650799594704, "gripper": 0.03745070902041027}, "target_simulation_time": 1.8400000000000014, "target_positions": {"joint1": -0.006313412283064682, "joint2": 1.4834568079781818, "joint3": 1.3989170879709412, "joint4": -1.2955834544280886, "joint5": 0.004246059622799369, "joint6": -0.001896378930560267, "gripper": 0.03751885974068101}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 23, "source_target": [0.5323570370674133, -1.506029486656189, 1.4828567504882812, 1.4978526830673218, -2.1076879501342773, 0.699999988079071], "source_tool_goal_m": [0.10518618635624566, -0.2305300266504444, 0.08684838721361804], "target_tool_goal_m": [0.24799119875776696, -0.0029229955509766452, 0.16266291356315662], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006313412283064682, "joint2": 1.4834568079781818, "joint3": 1.3989170879709412, "joint4": -1.2955834544280886, "joint5": 0.004246059622799369, "joint6": -0.001896378930560267, "gripper": 0.03752399936097009}, "target_simulation_time": 1.9200000000000015, "target_positions": {"joint1": -0.006313265018257221, "joint2": 1.483456974752233, "joint3": 1.3989170671315085, "joint4": -1.295582835900785, "joint5": 0.004245454213017969, "joint6": -0.001896091885318919, "gripper": 0.03751897837430025}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 24, "source_target": [0.5320370197296143, -1.5048965215682983, 1.4800033569335938, 1.4999542236328125, -2.105334997177124, 0.699999988079071], "source_tool_goal_m": [0.10515376923897798, -0.23061884217855158, 0.08703622945323387], "target_tool_goal_m": [0.2478983734942877, -0.0029273717169834264, 0.16285075580277247], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006313265018257221, "joint2": 1.483456974752233, "joint3": 1.3989170671315085, "joint4": -1.295582835900785, "joint5": 0.004245454213017969, "joint6": -0.001896091885318919, "gripper": 0.03752399936097009}, "target_simulation_time": 2.0000000000000013, "target_positions": {"joint1": -0.006313263894966079, "joint2": 1.4834569741969486, "joint3": 1.398917066891425, "joint4": -1.295582848548905, "joint5": 0.004245455187126143, "joint6": -0.0018960984320504054, "gripper": 0.03751917667175438}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 25, "source_target": [0.5334416627883911, -1.5049247741699219, 1.4810311794281006, 1.4988386631011963, -2.104851007461548, 0.699999988079071], "source_tool_goal_m": [0.1054257403723171, -0.23049258429737593, 0.08690415845298025], "target_tool_goal_m": [0.24811619296185236, -0.003125897670899499, 0.16271868480251883], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006313263894966079, "joint2": 1.4834569741969486, "joint3": 1.398917066891425, "joint4": -1.295582848548905, "joint5": 0.004245455187126143, "joint6": -0.0018960984320504054, "gripper": 0.03752399936097009}, "target_simulation_time": 2.0799999999999925, "target_positions": {"joint1": -0.006313263296655535, "joint2": 1.4834569742020471, "joint3": 1.3989170668941147, "joint4": -1.2955828482960947, "joint5": 0.004245452231166183, "joint6": -0.0018960979267669646, "gripper": 0.03751930195600316}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 26, "source_target": [0.5321524739265442, -1.5053656101226807, 1.4827529191970825, 1.4965593814849854, -2.1053051948547363, 0.699999988079071], "source_tool_goal_m": [0.10524397485386264, -0.23072366268849792, 0.08675951257766937], "target_tool_goal_m": [0.24783765086683807, -0.00304897797983442, 0.16257403892720795], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006313263296655535, "joint2": 1.4834569742020471, "joint3": 1.3989170668941147, "joint4": -1.2955828482960947, "joint5": 0.004245452231166183, "joint6": -0.0018960979267669646, "gripper": 0.03752399936097009}, "target_simulation_time": 2.1599999999999837, "target_positions": {"joint1": -0.006313263097055901, "joint2": 1.4834569742026713, "joint3": 1.3989170668927433, "joint4": -1.2955828483027754, "joint5": 0.004245451308993169, "joint6": -0.0018960978305333092, "gripper": 0.03751940152968432}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 1080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 27, "source_target": [0.5355647802352905, -1.5074518918991089, 1.4868804216384888, 1.494135856628418, -2.1056666374206543, 0.699999988079071], "source_tool_goal_m": [0.10579664644791603, -0.23022757738302102, 0.0865625671604745], "target_tool_goal_m": [0.24849738179907346, -0.0033613598378395026, 0.1623770935100131], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.009023085167434726, "joint2": 1.4834313310192075, "joint3": 1.3991883002396273, "joint4": -1.2953617415348075, "joint5": 0.0060547137998051255, "joint6": -0.0023763158241572255, "gripper": 0.03752399936097009}, "target_simulation_time": 2.239999999999975, "target_positions": {"joint1": -0.006421927051850523, "joint2": 1.4834563703221804, "joint3": 1.3989256161357246, "joint4": -1.2955510267610828, "joint5": 0.004447177385943407, "joint6": -0.001989831405126301, "gripper": 0.03751936855143445}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 1120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 28, "source_target": [0.5304209589958191, -1.5026938915252686, 1.485735297203064, 1.4940431118011475, -2.105963945388794, 0.699999988079071], "source_tool_goal_m": [0.10485467966460692, -0.2307871805059457, 0.08586373133463894], "target_tool_goal_m": [0.24763210398086952, -0.002720260388259162, 0.16167825768417754], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.007246962050505391, "joint2": 1.4838691363120626, "joint3": 1.3968398026321962, "joint4": -1.297037841334182, "joint5": 0.004992711561922738, "joint6": -0.002134077833387746, "gripper": 0.03752399936097009}, "target_simulation_time": 2.319999999999966, "target_positions": {"joint1": -0.006464898350263906, "joint2": 1.4834668566549245, "joint3": 1.3988612193252619, "joint4": -1.2957602436515245, "joint5": 0.004539433425390321, "joint6": -0.002028212266956173, "gripper": 0.03751964500359357}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "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": 0.06131250000000002}, {"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": -6.825605486855679e-05}, "target_sequence": 1160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 29, "source_target": [0.5326656103134155, -1.5011804103851318, 1.4862515926361084, 1.4920480251312256, -2.105502128601074, 0.699999988079071], "source_tool_goal_m": [0.10536073596259393, -0.23070543883158875, 0.08553584695898593], "target_tool_goal_m": [0.24789855082993323, -0.0031478844323540663, 0.16135037330852453], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.008364627983359268, "joint2": 1.4851190632105962, "joint3": 1.3966757295361076, "joint4": -1.296109293616872, "joint5": 0.005800854885007993, "joint6": -0.0023628910276204795, "gripper": 0.03752399936097009}, "target_simulation_time": 2.3999999999999573, "target_positions": {"joint1": -0.006528856298620719, "joint2": 1.4835149237561729, "joint3": 1.3987821987833764, "joint4": -1.2958391561381573, "joint5": 0.004689500302168546, "joint6": -0.0020963217846690363, "gripper": 0.03751962148549315}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 30, "source_target": [0.5303128957748413, -1.5019978284835815, 1.4930278062820435, 1.4883625507354736, -2.1045963764190674, 0.699999988079071], "source_tool_goal_m": [0.1047252085795599, -0.23061740658522278, 0.08473470473171864], "target_tool_goal_m": [0.24773677597726018, -0.002538374279275139, 0.16054923108125724], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.0066727424554053, "joint2": 1.4868527682976893, "joint3": 1.3950921772907057, "joint4": -1.2958846713425243, "joint5": 0.004773046910864218, "joint6": -0.002118584349702383, "gripper": 0.03752399936097009}, "target_simulation_time": 2.4799999999999485, "target_positions": {"joint1": -0.006541413059460584, "joint2": 1.4836882310409814, "joint3": 1.3982720175638332, "joint4": -1.2958327275849724, "joint5": 0.00471958085333424, "joint6": -0.0021077585527839696, "gripper": 0.03751984540542709}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 31, "source_target": [0.5328655242919922, -1.5000419616699219, 1.4934232234954834, 1.4817628860473633, -2.1042401790618896, 0.699999988079071], "source_tool_goal_m": [0.10564121477289388, -0.23110211970226066, 0.08439925345305913], "target_tool_goal_m": [0.24764560709589267, -0.003552894324918339, 0.1602137798025977], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.009400311530168756, "joint2": 1.487459184542664, "joint3": 1.3943032467505558, "joint4": -1.2957001896224514, "joint5": 0.00661534326390683, "joint6": -0.002611030333579961, "gripper": 0.03752399936097009}, "target_simulation_time": 2.5599999999999397, "target_positions": {"joint1": -0.006707173109878136, "joint2": 1.4842305748764408, "joint3": 1.3973834182208236, "joint4": -1.295810139143937, "joint5": 0.004929507549197357, "joint6": -0.002206362881422082, "gripper": 0.03751980668733912}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 1280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 32, "source_target": [0.5326597690582275, -1.5050286054611206, 1.4947805404663086, 1.483441710472107, -2.105084180831909, 0.699999988079071], "source_tool_goal_m": [0.10546128406127984, -0.23088013391608758, 0.08509053445652741], "target_tool_goal_m": [0.24777842442118453, -0.003305425018113546, 0.16090506080606598], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.008676925831914793, "joint2": 1.4858643502408995, "joint3": 1.3955681624093408, "joint4": -1.29583812640123, "joint5": 0.006239447461371844, "joint6": -0.0025540395080608687, "gripper": 0.03752399936097009}, "target_simulation_time": 2.639999999999931, "target_positions": {"joint1": -0.0067987113626180986, "joint2": 1.48461518818902, "joint3": 1.3970581056127345, "joint4": -1.295835607054932, "joint5": 0.005111396202402591, "joint6": -0.002284823330592317, "gripper": 0.03751989405522625}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 33, "source_target": [0.5325286388397217, -1.5048047304153442, 1.4974315166473389, 1.4804844856262207, -2.1067023277282715, 0.699999988079071], "source_tool_goal_m": [0.10546516161471271, -0.2309353561264278, 0.08469545642740149], "target_tool_goal_m": [0.24772984432949305, -0.0033299300011316244, 0.16050998277694006], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.008684649530067716, "joint2": 1.4868074115892205, "joint3": 1.3948561055612536, "joint4": -1.295659932168806, "joint5": 0.006363640749311495, "joint6": -0.002617295140896532, "gripper": 0.03752399936097009}, "target_simulation_time": 2.719999999999922, "target_positions": {"joint1": -0.006866994859507835, "joint2": 1.4846861187492153, "joint3": 1.3969792327579127, "joint4": -1.2958100920040667, "joint5": 0.005272925126524897, "joint6": -0.0023568500108075295, "gripper": 0.037519991833046266}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 34, "source_target": [0.5349960923194885, -1.5045216083526611, 1.5004403591156006, 1.477455973625183, -2.107548475265503, 0.699999988079071], "source_tool_goal_m": [0.10592883568586303, -0.23068078925759855, 0.08423782627753658], "target_tool_goal_m": [0.24813683193415947, -0.0036534463574557615, 0.16005235262707518], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.009492920626785823, "joint2": 1.488511792360432, "joint3": 1.394592048463, "joint4": -1.2941809555388817, "joint5": 0.007016987281049301, "joint6": -0.0028205303971068226, "gripper": 0.03752399936097009}, "target_simulation_time": 2.7999999999999132, "target_positions": {"joint1": -0.006960100484178422, "joint2": 1.485131876023405, "joint3": 1.3969015783329488, "joint4": -1.2955760840440318, "joint5": 0.005489014599130708, "joint6": -0.0024542158034005154, "gripper": 0.037520021460133605}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_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": -6.825605486855679e-05}, "target_sequence": 1400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 35, "source_target": [0.5357515811920166, -1.5032532215118408, 1.5009342432022095, 1.4747170209884644, -2.1055526733398438, 0.699999988079071], "source_tool_goal_m": [0.10622077010205677, -0.23086444934873085, 0.08396829454814377], "target_tool_goal_m": [0.24808132676245115, -0.0039878691148574315, 0.15978282089768236], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01031927137351592, "joint2": 1.4891539656785469, "joint3": 1.394102629474298, "joint4": -1.2941267017386509, "joint5": 0.007720750961179711, "joint6": -0.003047276913422108, "gripper": 0.03752399936097009}, "target_simulation_time": 2.8799999999999044, "target_positions": {"joint1": -0.007396439653030972, "joint2": 1.4860393616328393, "joint3": 1.396792198830715, "joint4": -1.295335688868336, "joint5": 0.00575431850085298, "joint6": -0.0025801116706473766, "gripper": 0.037520435081196034}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 1440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 36, "source_target": [0.5317556262016296, -1.501651406288147, 1.508758544921875, 1.4645438194274902, -2.1071383953094482, 0.699999988079071], "source_tool_goal_m": [0.1056482140385361, -0.23157034162495246, 0.08264864543530716], "target_tool_goal_m": [0.24722386642996658, -0.0037372127939053123, 0.15846317178484576], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.009676387537617813, "joint2": 1.4913628302820492, "joint3": 1.390884214060878, "joint4": -1.2954200104230364, "joint5": 0.0072527772625483105, "joint6": -0.0029779462341020706, "gripper": 0.03752399936097009}, "target_simulation_time": 2.9599999999998956, "target_positions": {"joint1": -0.007619389064444792, "joint2": 1.487153447174478, "joint3": 1.395309501637341, "joint4": -1.2952561763631514, "joint5": 0.005972638414817621, "joint6": -0.002669733792657358, "gripper": 0.03752002842957286}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 1480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 37, "source_target": [0.5310419201850891, -1.4993010759353638, 1.514013648033142, 1.4614938497543335, -2.1062183380126953, 0.699999988079071], "source_tool_goal_m": [0.10531249210742381, -0.23130430434551458, 0.08148089300079692], "target_tool_goal_m": [0.24733739520128922, -0.0033317884692327373, 0.1572954193503355], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.008549242359212565, "joint2": 1.4943007219962405, "joint3": 1.388903290476748, "joint4": -1.2939719096630427, "joint5": 0.006564550551234972, "joint6": -0.0028277380553572533, "gripper": 0.03752399936097009}, "target_simulation_time": 3.039999999999887, "target_positions": {"joint1": -0.00765819605803781, "joint2": 1.4893630625667116, "joint3": 1.3929184781222408, "joint4": -1.2950738095598169, "joint5": 0.006063513080776897, "joint6": -0.0027086965107751544, "gripper": 0.03752030144462456}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 1520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 38, "source_target": [0.5330491662025452, -1.499212622642517, 1.5175353288650513, 1.4543401002883911, -2.106726884841919, 0.699999988079071], "source_tool_goal_m": [0.10596815212972967, -0.2315689813360607, 0.08103473872726664], "target_tool_goal_m": [0.2473467100034575, -0.004026690892865892, 0.15684926507680524], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.010389770035038388, "joint2": 1.4954238202440093, "joint3": 1.3880914673222087, "joint4": -1.2934201646589576, "joint5": 0.007868457898472812, "joint6": -0.003188766625613583, "gripper": 0.03752399936097009}, "target_simulation_time": 3.119999999999878, "target_positions": {"joint1": -0.007781485496966145, "joint2": 1.4923333621774326, "joint3": 1.3908183523895716, "joint4": -1.2948292906096632, "joint5": 0.006273694387296368, "joint6": -0.0028055598015125395, "gripper": 0.037520298801730564}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_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": -6.825605486855679e-05}, "target_sequence": 1560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 39, "source_target": [0.5335780382156372, -1.4976787567138672, 1.5233964920043945, 1.44606351852417, -2.105097532272339, 0.699999988079071], "source_tool_goal_m": [0.10622876200500905, -0.2317937777704671, 0.07999313449563904], "target_tool_goal_m": [0.24724201176394223, -0.004348356963762931, 0.1558076608451776], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011196194792231901, "joint2": 1.4981946489719027, "joint3": 1.386416597312403, "joint4": -1.292976210774725, "joint5": 0.008538724399038083, "joint6": -0.0034078597943275916, "gripper": 0.03752399936097009}, "target_simulation_time": 3.199999999999869, "target_positions": {"joint1": -0.008270843945296364, "joint2": 1.4952377384662316, "joint3": 1.3891228175431445, "joint4": -1.2945370172534958, "joint5": 0.00654421763554348, "joint6": -0.0029337064114995457, "gripper": 0.037520702563621076}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_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": -6.825605486855679e-05}, "target_sequence": 1600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 40, "source_target": [0.5339897871017456, -1.497153878211975, 1.5266813039779663, 1.4417502880096436, -2.1070380210876465, 0.699999988079071], "source_tool_goal_m": [0.10637659592140213, -0.23186234033378483, 0.07946574355058644], "target_tool_goal_m": [0.24723605860988285, -0.0045084162213668965, 0.15528026990012503], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011653218996504563, "joint2": 1.499921731831991, "joint3": 1.3858428981645943, "joint4": -1.292833149689987, "joint5": 0.008793315453669924, "joint6": -0.003531699935082787, "gripper": 0.03752399936097009}, "target_simulation_time": 3.2799999999998604, "target_positions": {"joint1": -0.008964574024693148, "joint2": 1.4977536108441123, "joint3": 1.387951683893534, "joint4": -1.2942710548370837, "joint5": 0.006832118862236145, "joint6": -0.0030630351767506857, "gripper": 0.037520566782920324}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 41, "source_target": [0.5350023508071899, -1.4953877925872803, 1.5312014818191528, 1.4365100860595703, -2.1074576377868652, 0.699999988079071], "source_tool_goal_m": [0.1065867803834812, -0.23178866984234944, 0.07853932207502283], "target_tool_goal_m": [0.24738272680606108, -0.004670926921512088, 0.1543538484245614], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.012175414265550796, "joint2": 1.5028869114487071, "joint3": 1.3848320134494156, "joint4": -1.2919677088356927, "joint5": 0.008965519836676669, "joint6": -0.0036307318405610716, "gripper": 0.03752399936097009}, "target_simulation_time": 3.3599999999998515, "target_positions": {"joint1": -0.0095795445091084, "joint2": 1.4999851833083062, "joint3": 1.387272351957986, "joint4": -1.293916336067442, "joint5": 0.007111226727528831, "joint6": -0.0031861271762447132, "gripper": 0.03752047205704689}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 1680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 42, "source_target": [0.5346193313598633, -1.4933419227600098, 1.5395278930664062, 1.4265453815460205, -2.107672691345215, 0.699999988079071], "source_tool_goal_m": [0.10659696623562026, -0.23196651924989775, 0.07705907043203358], "target_tool_goal_m": [0.247225393996511, -0.004747761223158193, 0.15287359678157217], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.012455943844863057, "joint2": 1.5068315852533376, "joint3": 1.3824987238795416, "joint4": -1.29139792982402, "joint5": 0.009009943000067917, "joint6": -0.003691815553177053, "gripper": 0.03752399936097009}, "target_simulation_time": 3.4399999999998427, "target_positions": {"joint1": -0.009988699157377429, "joint2": 1.502490575258156, "joint3": 1.3861653144222823, "joint4": -1.2934841118104266, "joint5": 0.007365852009992941, "joint6": -0.0032963560577832516, "gripper": 0.03752040209381023}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 1720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 43, "source_target": [0.5362386703491211, -1.4929288625717163, 1.5445735454559326, 1.4201894998550415, -2.107738733291626, 0.699999988079071], "source_tool_goal_m": [0.10698777895658265, -0.23194232260001724, 0.07631856457318437], "target_tool_goal_m": [0.24739587659844037, -0.005092800557967592, 0.15213309092272295], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.013391649850264534, "joint2": 1.509341679801842, "joint3": 1.3818133686852443, "joint4": -1.2905732445319742, "joint5": 0.009618000079097409, "joint6": -0.0038961375557541762, "gripper": 0.03752399936097009}, "target_simulation_time": 3.519999999999834, "target_positions": {"joint1": -0.010526500846862684, "joint2": 1.505576646054087, "joint3": 1.384810292131505, "joint4": -1.2930200336417468, "joint5": 0.007640628077359241, "joint6": -0.0034241656401030633, "gripper": 0.03752080449561944}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "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": -6.825605486855679e-05}, "target_sequence": 1760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 44, "source_target": [0.5364492535591125, -1.4902822971343994, 1.5502851009368896, 1.4107531309127808, -2.1083219051361084, 0.699999988079071], "source_tool_goal_m": [0.1072491142521265, -0.2322908213442918, 0.0751067801386043], "target_tool_goal_m": [0.2471793290587883, -0.005462144226911661, 0.1509213064881429], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01443729482591671, "joint2": 1.512627157575227, "joint3": 1.3799137286968353, "joint4": -1.2903966681957983, "joint5": 0.010229734006517725, "joint6": -0.004113282155863016, "gripper": 0.03752399936097009}, "target_simulation_time": 3.599999999999825, "target_positions": {"joint1": -0.011455244466569932, "joint2": 1.5088844098417524, "joint3": 1.3832012299869436, "joint4": -1.292570189896634, "joint5": 0.007957151081232511, "joint6": -0.003571543998462757, "gripper": 0.037520982130319985}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 45, "source_target": [0.535676896572113, -1.4889506101608276, 1.557090401649475, 1.4034134149551392, -2.108445882797241, 0.699999988079071], "source_tool_goal_m": [0.10710355501568207, -0.2323713682549502, 0.07394889450513777], "target_tool_goal_m": [0.24705099248354415, -0.005360824264009034, 0.14976342085467637], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.014318294725560206, "joint2": 1.5159063126813808, "joint3": 1.3782240241555825, "joint4": -1.2900395785967531, "joint5": 0.00984253173948031, "joint6": -0.004073931108110186, "gripper": 0.03752399936097009}, "target_simulation_time": 3.6799999999998163, "target_positions": {"joint1": -0.012082898195890021, "joint2": 1.512313764544003, "joint3": 1.3813495910828621, "joint4": -1.2921492722830707, "joint5": 0.008228949800254175, "joint6": -0.00368331655387129, "gripper": 0.03752039701772979}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 46, "source_target": [0.5353876352310181, -1.4873617887496948, 1.5656837224960327, 1.3940987586975098, -2.1095383167266846, 0.699999988079071], "source_tool_goal_m": [0.10704734943319627, -0.2323944723903789, 0.0725044750371306], "target_tool_goal_m": [0.24700868654393393, -0.005318660985295126, 0.1483190013866692], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.014281743367514237, "joint2": 1.5200143754953002, "joint3": 1.3761482380187138, "joint4": -1.2891287421758137, "joint5": 0.0096658801570643, "joint6": -0.00406712733578566, "gripper": 0.03752399936097009}, "target_simulation_time": 3.7599999999998075, "target_positions": {"joint1": -0.012196724192035468, "joint2": 1.5160098470274768, "joint3": 1.3794134412437846, "joint4": -1.29166292471021, "joint5": 0.008428809518888426, "joint6": -0.0037682554111984935, "gripper": 0.03752062437213632}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 1880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 47, "source_target": [0.5357430577278137, -1.4857187271118164, 1.5720144510269165, 1.3852386474609375, -2.1096739768981934, 0.6986327767372131], "source_tool_goal_m": [0.10725023841563397, -0.23258556248252835, 0.07137902901660192], "target_tool_goal_m": [0.24691259998253032, -0.0055751962447453006, 0.1471935553661405], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.014915890016226164, "joint2": 1.5233177395535222, "joint3": 1.3745904771015678, "joint4": -1.2886820123101563, "joint5": 0.010217219291815061, "joint6": -0.004245349295622597, "gripper": 0.03745070902041027}, "target_simulation_time": 3.8399999999997987, "target_positions": {"joint1": -0.012329942817728931, "joint2": 1.5198765625212827, "joint3": 1.3775200635844616, "joint4": -1.291175346109973, "joint5": 0.008650892536237782, "joint6": -0.0038693367293787455, "gripper": 0.03751920900634194}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999979}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999979}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999979}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999979}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 48, "source_target": [0.5346477627754211, -1.4833548069000244, 1.5791250467300415, 1.3763229846954346, -2.107752799987793, 0.699999988079071], "source_tool_goal_m": [0.10709988173160909, -0.2328034348700405, 0.07000629188978141], "target_tool_goal_m": [0.24665796665068726, -0.005521726152329894, 0.14582081823932], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.014714162742487526, "joint2": 1.5271160789945135, "joint3": 1.3724661239718066, "joint4": -1.2884612323865678, "joint5": 0.010213157282390773, "joint6": -0.004286290920284851, "gripper": 0.03752399936097009}, "target_simulation_time": 3.91999999999979, "target_positions": {"joint1": -0.012424122551185647, "joint2": 1.523640139648346, "joint3": 1.3755572446057356, "joint4": -1.290717984983394, "joint5": 0.008856901284848496, "joint6": -0.0039606267461941925, "gripper": 0.03751942945751241}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999982}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999982}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999982}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999982}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 1960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 49, "source_target": [0.5352816581726074, -1.4811574220657349, 1.5876871347427368, 1.365675687789917, -2.1081511974334717, 0.699999988079071], "source_tool_goal_m": [0.10728668742309913, -0.23284840868996828, 0.06847187810117224], "target_tool_goal_m": [0.24668820800517502, -0.005708143586893881, 0.14428640445071084], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015147148258560308, "joint2": 1.531675088696727, "joint3": 1.3704313737832452, "joint4": -1.2872538883057951, "joint5": 0.010644488940344352, "joint6": -0.004438025985171139, "gripper": 0.03752399936097009}, "target_simulation_time": 3.999999999999781, "target_positions": {"joint1": -0.012563237697926208, "joint2": 1.5276171245366406, "joint3": 1.3736084664576238, "joint4": -1.290169458802446, "joint5": 0.009081067417640906, "joint6": -0.004062467836906251, "gripper": 0.03751968274129761}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 2000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 50, "source_target": [0.5345847010612488, -1.479052186012268, 1.5975598096847534, 1.3555241823196411, -2.107449769973755, 0.699999988079071], "source_tool_goal_m": [0.10707200173823783, -0.23278428537357052, 0.06675609782870041], "target_tool_goal_m": [0.2466647265792051, -0.005489176590748947, 0.142570624178239], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01449298492436116, "joint2": 1.5366807314214952, "joint3": 1.3680684896091055, "joint4": -1.2860281357144667, "joint5": 0.010330321669798663, "joint6": -0.004397650837437282, "gripper": 0.03752399936097009}, "target_simulation_time": 4.079999999999773, "target_positions": {"joint1": -0.01264270030995079, "joint2": 1.5321249932068595, "joint3": 1.3715627587579955, "joint4": -1.289499531574393, "joint5": 0.009252236990369832, "joint6": -0.00413775887430842, "gripper": 0.03751981186875323}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 2040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 51, "source_target": [0.5375173091888428, -1.4770081043243408, 1.6048964262008667, 1.346340298652649, -2.108605146408081, 0.699999988079071], "source_tool_goal_m": [0.10766620230753451, -0.23253959677079244, 0.06541308247853757], "target_tool_goal_m": [0.24711237441162895, -0.005934758292776288, 0.14122760882807617], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015621549530658885, "joint2": 1.5414992036309478, "joint3": 1.3671190771674662, "joint4": -1.2840362513006836, "joint5": 0.01121099350065, "joint6": -0.004662318058154189, "gripper": 0.03752399936097009}, "target_simulation_time": 4.159999999999764, "target_positions": {"joint1": -0.012885058349170671, "joint2": 1.5372772412078466, "joint3": 1.3698914386578178, "joint4": -1.2886535245056105, "joint5": 0.009485791248493138, "joint6": -0.004247211219094972, "gripper": 0.03752000079263938}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 2080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 52, "source_target": [0.5361306667327881, -1.4750860929489136, 1.6133077144622803, 1.336428165435791, -2.109381675720215, 0.699999988079071], "source_tool_goal_m": [0.10741402025712861, -0.23269853707291446, 0.06394474007380656], "target_tool_goal_m": [0.24687245322576784, -0.005766592171066942, 0.13975926642334513], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.0151383615955212, "joint2": 1.5460446690468126, "joint3": 1.3652639981303107, "joint4": -1.2839626927117036, "joint5": 0.0109554845439677, "joint6": -0.00464146882015059, "gripper": 0.03752399936097009}, "target_simulation_time": 4.239999999999755, "target_positions": {"joint1": -0.013013094008731012, "joint2": 1.5424066973175854, "joint3": 1.3682546138184788, "joint4": -1.2878549914170954, "joint5": 0.009688946481278991, "joint6": -0.0043349485147003135, "gripper": 0.03751991248744394}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 2120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 53, "source_target": [0.5364705920219421, -1.4723198413848877, 1.6209131479263306, 1.324662685394287, -2.1088690757751465, 0.699999988079071], "source_tool_goal_m": [0.10766495378574624, -0.23297888246944715, 0.06246272539620322], "target_tool_goal_m": [0.24671372679594294, -0.006100602032016985, 0.1382772517457418], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015988213177789538, "joint2": 1.5507835097072116, "joint3": 1.3635362984273998, "joint4": -1.2836342031934571, "joint5": 0.011643356913354747, "joint6": -0.004857529645867385, "gripper": 0.03752399936097009}, "target_simulation_time": 4.319999999999746, "target_positions": {"joint1": -0.013258677107989876, "joint2": 1.5472214815642646, "joint3": 1.3664506611537797, "joint4": -1.2871474249953387, "joint5": 0.00992542356101544, "joint6": -0.004445300114430412, "gripper": 0.03752015238220831}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "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": -6.825605486855679e-05}, "target_sequence": 2160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 54, "source_target": [0.536879301071167, -1.471096158027649, 1.6318893432617188, 1.3127957582473755, -2.1098554134368896, 0.699999988079071], "source_tool_goal_m": [0.10768673725313757, -0.23283856944223086, 0.06077457590711416], "target_tool_goal_m": [0.24684918799767094, -0.006067012875648331, 0.13658910225665274], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015856832081540387, "joint2": 1.5562890722959513, "joint3": 1.3617700796382803, "joint4": -1.282180502150073, "joint5": 0.011623474453660718, "joint6": -0.004900603818067205, "gripper": 0.03752399936097009}, "target_simulation_time": 4.3999999999997375, "target_positions": {"joint1": -0.013458798291017536, "joint2": 1.5521241210576195, "joint3": 1.36476437981202, "joint4": -1.2863544044709019, "joint5": 0.010153502016389348, "joint6": -0.004544861973644006, "gripper": 0.037520007480359455}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 2200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 55, "source_target": [0.5388413071632385, -1.4690990447998047, 1.6383658647537231, 1.304866909980774, -2.1087725162506104, 0.699999988079071], "source_tool_goal_m": [0.10805029494347206, -0.23262392021865205, 0.05955502876265435], "target_tool_goal_m": [0.24718193893955073, -0.006314955683905644, 0.13536955511219295], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.0164651197980319, "joint2": 1.5608815153477504, "joint3": 1.3611126476282334, "joint4": -1.280761324101671, "joint5": 0.012131103508335319, "joint6": -0.0050749559904109615, "gripper": 0.03752399936097009}, "target_simulation_time": 4.479999999999729, "target_positions": {"joint1": -0.013728263107948491, "joint2": 1.557231849748078, "joint3": 1.3635597021823163, "joint4": -1.2854680420063271, "joint5": 0.010396467726184992, "joint6": -0.0046579588596692015, "gripper": 0.03752030992438111}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 2240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 56, "source_target": [0.5352168083190918, -1.4668936729431152, 1.647567629814148, 1.2919585704803467, -2.107534885406494, 0.699999988079071], "source_tool_goal_m": [0.10750173413078272, -0.23324099220544536, 0.05796195497290481], "target_tool_goal_m": [0.24641410697887833, -0.0060522877213755166, 0.1337764813224434], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015753932466838656, "joint2": 1.5652978309422017, "joint3": 1.3584400398878858, "joint4": -1.2819044710037915, "joint5": 0.011706646169176703, "joint6": -0.005009285347002713, "gripper": 0.03752399936097009}, "target_simulation_time": 4.55999999999972, "target_positions": {"joint1": -0.013843510511485087, "joint2": 1.5618261880449658, "joint3": 1.3618230301664158, "joint4": -1.284800836196014, "joint5": 0.010582612686221559, "joint6": -0.00473736800918427, "gripper": 0.037520211312504964}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 2280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 57, "source_target": [0.53536456823349, -1.4647598266601562, 1.6560505628585815, 1.2821600437164307, -2.1072447299957275, 0.699999988079071], "source_tool_goal_m": [0.10747773990936192, -0.2331389685723347, 0.05644932725594817], "target_tool_goal_m": [0.2464974618790801, -0.005991759253328128, 0.13226385360548676], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015533604711953919, "joint2": 1.5702804399171322, "joint3": 1.3568850338074894, "joint4": -1.2806674253553445, "joint5": 0.011666051700948019, "joint6": -0.0050291075871022875, "gripper": 0.03752399936097009}, "target_simulation_time": 4.639999999999711, "target_positions": {"joint1": -0.013905730723404055, "joint2": 1.5663289066173665, "joint3": 1.3598641409698449, "joint4": -1.2841430166846262, "joint5": 0.010725183311538433, "joint6": -0.004801502182908319, "gripper": 0.03752033863331286}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 2320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 58, "source_target": [0.5359035134315491, -1.4633352756500244, 1.6666327714920044, 1.2705962657928467, -2.1060290336608887, 0.699999988079071], "source_tool_goal_m": [0.10749324549922167, -0.23294145175341946, 0.05478686204251537], "target_tool_goal_m": [0.24668238691894884, -0.005930736223422968, 0.13060138839205396], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015312279866798464, "joint2": 1.575685415265548, "joint3": 1.3551596729223263, "joint4": -1.278865536541934, "joint5": 0.011615747231496233, "joint6": -0.0050431874880788345, "gripper": 0.03752399936097009}, "target_simulation_time": 4.719999999999702, "target_positions": {"joint1": -0.013957661212155715, "joint2": 1.5712921526642842, "joint3": 1.358206079538568, "joint4": -1.2833110773882328, "joint5": 0.010842749079082253, "joint6": -0.0048546802436713575, "gripper": 0.03752041918610556}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 2360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 59, "source_target": [0.5371741652488708, -1.4608533382415771, 1.6747747659683228, 1.260007619857788, -2.1065993309020996, 0.699999988079071], "source_tool_goal_m": [0.10774303004339363, -0.23282143459033966, 0.053273302831588834], "target_tool_goal_m": [0.24688611646596345, -0.006111524164701278, 0.12908782918112743], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015751504337703746, "joint2": 1.5809451661421439, "joint3": 1.3539094044227613, "joint4": -1.2773525510139867, "joint5": 0.011994526670698478, "joint6": -0.00516637387716707, "gripper": 0.03752399936097009}, "target_simulation_time": 4.799999999999693, "target_positions": {"joint1": -0.014020681718872786, "joint2": 1.5766855074736748, "joint3": 1.3567862133029127, "joint4": -1.282226506440876, "joint5": 0.010986449308182865, "joint6": -0.004920485988860984, "gripper": 0.03752044884821921}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 2400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 60, "source_target": [0.5358520746231079, -1.4576630592346191, 1.6859501600265503, 1.2492904663085938, -2.1064529418945312, 0.699999988079071], "source_tool_goal_m": [0.10721094075750912, -0.23248611816559547, 0.051192453377835054], "target_tool_goal_m": [0.24698780002625384, -0.005501777000568356, 0.12700697972737363], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.014052192758085068, "joint2": 1.5877125025501442, "joint3": 1.3517365652231408, "joint4": -1.2755431272238875, "joint5": 0.01094154709945044, "joint6": -0.004915446367299721, "gripper": 0.03752399936097009}, "target_simulation_time": 4.879999999999685, "target_positions": {"joint1": -0.014029397674780415, "joint2": 1.5825464580290716, "joint3": 1.3551659648842218, "joint4": -1.2802367718572802, "joint5": 0.011000458719319662, "joint6": -0.004926012591951264, "gripper": 0.03752062958469988}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 2440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 61, "source_target": [0.536641538143158, -1.455685019493103, 1.6934924125671387, 1.238645315170288, -2.1069793701171875, 0.699999988079071], "source_tool_goal_m": [0.10742848275039163, -0.23251651320540187, 0.04986457613142162], "target_tool_goal_m": [0.24704293880828995, -0.005710512641496612, 0.1256791024809602], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.014607366448241057, "joint2": 1.5922755948992309, "joint3": 1.3505468795539364, "joint4": -1.2744913637688329, "joint5": 0.011329379814982754, "joint6": -0.005019240037424492, "gripper": 0.03752399936097009}, "target_simulation_time": 4.959999999999676, "target_positions": {"joint1": -0.014047840533543174, "joint2": 1.5885865327909607, "joint3": 1.3534930356521513, "joint4": -1.2790069868198422, "joint5": 0.011036248643156247, "joint6": -0.00494394265147535, "gripper": 0.037520584922986225}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 2480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 62, "source_target": [0.5369440913200378, -1.454376220703125, 1.7015297412872314, 1.2280960083007812, -2.1053309440612793, 0.699999988079071], "source_tool_goal_m": [0.10752006153134672, -0.23254921785603536, 0.04859095754907812], "target_tool_goal_m": [0.2470481046818802, -0.005805951838924288, 0.12440548389861672], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.014849083539134085, "joint2": 1.5969612448765755, "joint3": 1.3496521764548834, "joint4": -1.273934160756544, "joint5": 0.01152373477880363, "joint6": -0.005078557829802908, "gripper": 0.03752399936097009}, "target_simulation_time": 5.039999999999667, "target_positions": {"joint1": -0.014075776625611927, "joint2": 1.593997206923093, "joint3": 1.351975660506549, "joint4": -1.27816896841505, "joint5": 0.011096023128155507, "joint6": -0.004972236249769348, "gripper": 0.03752064658802625}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 2520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 63, "source_target": [0.5368803143501282, -1.4515825510025024, 1.7114540338516235, 1.217666745185852, -2.107431411743164, 0.699999988079071], "source_tool_goal_m": [0.10729903505168235, -0.2321964085272405, 0.04677021112145073], "target_tool_goal_m": [0.24728388102805, -0.005471506010609617, 0.1225847374709893], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.013916812561046621, "joint2": 1.6033026871074836, "joint3": 1.3482119673073318, "joint4": -1.2720679986962828, "joint5": 0.01093436991759246, "joint6": -0.0049356217798306136, "gripper": 0.03752399936097009}, "target_simulation_time": 5.119999999999658, "target_positions": {"joint1": -0.014074200209241716, "joint2": 1.5991988761952352, "joint3": 1.3508495300101222, "joint4": -1.2769928255421983, "joint5": 0.011085781712209699, "joint6": -0.004967910364417924, "gripper": 0.03752077548054271}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 2560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 64, "source_target": [0.5360193848609924, -1.4491275548934937, 1.7216497659683228, 1.2064228057861328, -2.1075825691223145, 0.699999988079071], "source_tool_goal_m": [0.10696852177860922, -0.23200279360340723, 0.04498811869290585], "target_tool_goal_m": [0.247333745282029, -0.005098331085238559, 0.12080264504244442], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.012914012759309198, "joint2": 1.6092750198857602, "joint3": 1.3465152773071392, "joint4": -1.2706210205005286, "joint5": 0.01024495338074261, "joint6": -0.004751358146513851, "gripper": 0.03752399936097009}, "target_simulation_time": 5.199999999999649, "target_positions": {"joint1": -0.01403667846845059, "joint2": 1.6046848012029202, "joint3": 1.349671495303242, "joint4": -1.2752763114956347, "joint5": 0.010988837974738666, "joint6": -0.004924795326542546, "gripper": 0.037520845123093685}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 2600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 65, "source_target": [0.5356244444847107, -1.4464192390441895, 1.730002522468567, 1.1957056522369385, -2.109379768371582, 0.699999988079071], "source_tool_goal_m": [0.10683712297507693, -0.23194072843012759, 0.04342020711770338], "target_tool_goal_m": [0.24734005623096494, -0.004955638482919221, 0.11923473346724195], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.012565261589791795, "joint2": 1.6145497492051526, "joint3": 1.3450199953083612, "joint4": -1.269412998159523, "joint5": 0.009938943835031305, "joint6": -0.0046522296545762854, "gripper": 0.03752399936097009}, "target_simulation_time": 5.2799999999996405, "target_positions": {"joint1": -0.01398494182976986, "joint2": 1.6103483439725614, "joint3": 1.3482177346229132, "joint4": -1.273968599829676, "joint5": 0.010857323853358388, "joint6": -0.004867018866046551, "gripper": 0.037520859214983035}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_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": -6.825605486855679e-05}, "target_sequence": 2640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 66, "source_target": [0.5374059677124023, -1.4446899890899658, 1.737626552581787, 1.1850605010986328, -2.1080827713012695, 0.699999988079071], "source_tool_goal_m": [0.10720553624368696, -0.23181553109926054, 0.042140116230987804], "target_tool_goal_m": [0.24759357270115864, -0.005241983695551967, 0.1179546425805264], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01337409668742022, "joint2": 1.6194621727179945, "joint3": 1.3444720506972974, "joint4": -1.268049326527282, "joint5": 0.010393406019319752, "joint6": -0.00474988093122595, "gripper": 0.03752399936097009}, "target_simulation_time": 5.359999999999632, "target_positions": {"joint1": -0.013959187577016984, "joint2": 1.6159051642740008, "joint3": 1.3469198083665734, "joint4": -1.2729163849025456, "joint5": 0.010788020760226816, "joint6": -0.0048384660400574145, "gripper": 0.037520840915765546}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 2680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 67, "source_target": [0.5367065668106079, -1.4422121047973633, 1.7485777139663696, 1.1744718551635742, -2.1099610328674316, 0.699999988079071], "source_tool_goal_m": [0.10675328973238869, -0.2313422154328594, 0.04025036867207435], "target_tool_goal_m": [0.24785068895265305, -0.004652152409388679, 0.11606489502161293], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011798971767058759, "joint2": 1.6260913712813208, "joint3": 1.3430865557125087, "joint4": -1.2659768565043321, "joint5": 0.009279686481618067, "joint6": -0.004445111553222163, "gripper": 0.03752399936097009}, "target_simulation_time": 5.439999999999623, "target_positions": {"joint1": -0.013888055259216698, "joint2": 1.6215363086547603, "joint3": 1.3458414726620611, "joint4": -1.2708000761301412, "joint5": 0.010611504621557138, "joint6": -0.0047593503935637535, "gripper": 0.03752102076445943}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 2720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 68, "source_target": [0.535277783870697, -1.439635157585144, 1.7561500072479248, 1.1637547016143799, -2.110351085662842, 0.699999988079071], "source_tool_goal_m": [0.10648457556287562, -0.23148850941963536, 0.03882829064761399], "target_tool_goal_m": [0.24761594654790292, -0.004464194457586532, 0.11464281699715256], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011365808294008427, "joint2": 1.630700265207027, "joint3": 1.3414429215262476, "joint4": -1.2654281710506514, "joint5": 0.00886371679760449, "joint6": -0.0043008939689805304, "gripper": 0.03752399936097009}, "target_simulation_time": 5.519999999999614, "target_positions": {"joint1": -0.013798631942304344, "joint2": 1.6270846771319691, "joint3": 1.344594256180123, "joint4": -1.2696330242675156, "joint5": 0.010390623687388504, "joint6": -0.0046615936634901356, "gripper": 0.03752102802995876}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 2760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 69, "source_target": [0.5365877747535706, -1.4373092651367188, 1.7649275064468384, 1.1531095504760742, -2.106003522872925, 0.699999988079071], "source_tool_goal_m": [0.10660700280313236, -0.23116196345155826, 0.037286113462750584], "target_tool_goal_m": [0.24795846655608983, -0.004451041467021736, 0.11310063981228918], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011397081671862068, "joint2": 1.6364882933961307, "joint3": 1.3407462518904119, "joint4": -1.2635152642393883, "joint5": 0.008726835793357007, "joint6": -0.004225973230714584, "gripper": 0.03752399936097009}, "target_simulation_time": 5.599999999999605, "target_positions": {"joint1": -0.013711519278535792, "joint2": 1.6324692412731276, "joint3": 1.3433235593498494, "joint4": -1.26845916876482, "joint5": 0.010175495724694884, "joint6": -0.004567012363641926, "gripper": 0.03752104498239323}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "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": -6.825605486855679e-05}, "target_sequence": 2800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 70, "source_target": [0.5365059971809387, -1.4367015361785889, 1.770121455192566, 1.1452980041503906, -2.1079437732696533, 0.699999988079071], "source_tool_goal_m": [0.10666524583295994, -0.23128643212368966, 0.036533043254413325], "target_tool_goal_m": [0.24786778544284224, -0.004551144913266476, 0.11234756960395192], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011743075949216414, "joint2": 1.6396384558659585, "joint3": 1.34050656652403, "joint4": -1.2636878508928175, "joint5": 0.008816174910957139, "joint6": -0.0042107842303512905, "gripper": 0.03752399936097009}, "target_simulation_time": 5.6799999999995965, "target_positions": {"joint1": -0.013638654622971041, "joint2": 1.637312384005612, "joint3": 1.3425040557261574, "joint4": -1.2676344581182044, "joint5": 0.009995576785722458, "joint6": -0.004488490539774408, "gripper": 0.037521075899725316}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_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": -6.825605486855679e-05}, "target_sequence": 2840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 71, "source_target": [0.5375242829322815, -1.435017466545105, 1.779830813407898, 1.1321309804916382, -2.1077280044555664, 0.699999988079071], "source_tool_goal_m": [0.10685159575590916, -0.23117340230769237, 0.03501307198097549], "target_tool_goal_m": [0.24804106966618056, -0.0046770910029692156, 0.11082759833051409], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.012143665523526071, "joint2": 1.6451991824800258, "joint3": 1.3396125237062275, "joint4": -1.26219694159028, "joint5": 0.008951275756576648, "joint6": -0.004216383746975429, "gripper": 0.03752399936097009}, "target_simulation_time": 5.759999999999588, "target_positions": {"joint1": -0.01358269634553244, "joint2": 1.6416133420861434, "joint3": 1.342021004868485, "joint4": -1.2667670345600943, "joint5": 0.009856303249636027, "joint6": -0.004428023264160107, "gripper": 0.03752111654968282}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_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": -6.825605486855679e-05}, "target_sequence": 2880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 72, "source_target": [0.5365387201309204, -1.4334158897399902, 1.7846291065216064, 1.1265102624893188, -2.1079399585723877, 0.699999988079071], "source_tool_goal_m": [0.106561776097575, -0.23109873165783218, 0.03411166857371166], "target_tool_goal_m": [0.24799858952857828, -0.004386012694314023, 0.10992619492325023], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011409310868062955, "joint2": 1.6487502730419559, "joint3": 1.3392027613669164, "joint4": -1.2620321833257302, "joint5": 0.008361559421786373, "joint6": -0.004035687759182361, "gripper": 0.03752399936097009}, "target_simulation_time": 5.839999999999579, "target_positions": {"joint1": -0.013507298662416154, "joint2": 1.6456499676590381, "joint3": 1.3416335931283079, "joint4": -1.265971284326907, "joint5": 0.009671606396553855, "joint6": -0.004345873324582811, "gripper": 0.03752123524754894}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 2920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 73, "source_target": [0.5358365774154663, -1.4315048456192017, 1.791853904724121, 1.1187101602554321, -2.1084389686584473, 0.699999988079071], "source_tool_goal_m": [0.10623680283341749, -0.23084407605044555, 0.0328411140363499], "target_tool_goal_m": [0.24810588747580845, -0.003994657320312229, 0.10865564038588849], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.010418619043480648, "joint2": 1.6534103232276236, "joint3": 1.3384570141058107, "joint4": -1.2609278101127186, "joint5": 0.007561540959010984, "joint6": -0.003790451608152289, "gripper": 0.03752399936097009}, "target_simulation_time": 5.91999999999957, "target_positions": {"joint1": -0.01322702839280418, "joint2": 1.6495724133817213, "joint3": 1.341194843628928, "joint4": -1.2651490188324575, "joint5": 0.009418938791396238, "joint6": -0.004228932174511164, "gripper": 0.03752108907664741}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 2960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 74, "source_target": [0.5371682643890381, -1.4299031496047974, 1.7989802360534668, 1.1108767986297607, -2.108175277709961, 0.699999988079071], "source_tool_goal_m": [0.10630972694358748, -0.23041100080186855, 0.031644931303960386], "target_tool_goal_m": [0.24852615024337849, -0.0038961416998266087, 0.10745945765349896], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.010172706846214664, "joint2": 1.6581095777723236, "joint3": 1.3382740823806751, "joint4": -1.2590829578109282, "joint5": 0.007332252263103544, "joint6": -0.0036804362089903056, "gripper": 0.03752399936097009}, "target_simulation_time": 5.999999999999561, "target_positions": {"joint1": -0.012800316534140764, "joint2": 1.65390094051362, "joint3": 1.340895327890293, "joint4": -1.2639864270333354, "joint5": 0.009151897916139901, "joint6": -0.004110186587654277, "gripper": 0.03752124028782003}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 3000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 75, "source_target": [0.5373326539993286, -1.4265003204345703, 1.8035963773727417, 1.1028871536254883, -2.1086080074310303, 0.697265625], "source_tool_goal_m": [0.1063431129995207, -0.2303967211152187, 0.03047316926663106], "target_tool_goal_m": [0.24855178375885192, -0.003920975358187381, 0.10628769561616963], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.010233171676210514, "joint2": 1.6624484094342598, "joint3": 1.3375840550392841, "joint4": -1.258272030876352, "joint5": 0.0073919886325841426, "joint6": -0.003647998923198092, "gripper": 0.037377421875000004}, "target_simulation_time": 6.079999999999552, "target_positions": {"joint1": -0.012563890023659308, "joint2": 1.6584782851512772, "joint3": 1.3404875454360439, "joint4": -1.2628859444060654, "joint5": 0.00891194274208205, "joint6": -0.004008950989784779, "gripper": 0.03751825169696192}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 76, "source_target": [0.538442075252533, -1.4262840747833252, 1.8094713687896729, 1.0968117713928223, -2.109241485595703, 0.699999988079071], "source_tool_goal_m": [0.10641792322410282, -0.2300574708490843, 0.02968849375964701], "target_tool_goal_m": [0.24888771952859573, -0.0038598328301565807, 0.10550302010918561], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.010095277192265628, "joint2": 1.6660980976790751, "joint3": 1.3380209006103387, "joint4": -1.2573563124816614, "joint5": 0.007226809328299864, "joint6": -0.003566293038024981, "gripper": 0.03752399936097009}, "target_simulation_time": 6.159999999999544, "target_positions": {"joint1": -0.012473270686301104, "joint2": 1.662926756345645, "joint3": 1.3401951604170523, "joint4": -1.2619853414412614, "joint5": 0.00869313906397342, "joint6": -0.0039130595589281685, "gripper": 0.037518425285937754}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 77, "source_target": [0.5366578102111816, -1.423690676689148, 1.8134344816207886, 1.0921581983566284, -2.108586311340332, 0.699999988079071], "source_tool_goal_m": [0.10592891498565428, -0.22998239614294788, 0.028720366719762525], "target_tool_goal_m": [0.2487698927292595, -0.003388054373437308, 0.10453489306930111], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.008906284746536413, "joint2": 1.6698775939005774, "joint3": 1.3375208552870737, "joint4": -1.2573308453212209, "joint5": 0.0062777496773173975, "joint6": -0.0032758288322013588, "gripper": 0.03752399936097009}, "target_simulation_time": 6.239999999999535, "target_positions": {"joint1": -0.01199516484299898, "joint2": 1.6668627355460446, "joint3": 1.3399337372701225, "joint4": -1.2611958104764096, "joint5": 0.008411894011795878, "joint6": -0.003778859387245716, "gripper": 0.03751833322041512}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 78, "source_target": [0.5389835238456726, -1.4243801832199097, 1.8198342323303223, 1.0837081670761108, -2.1087589263916016, 0.699999988079071], "source_tool_goal_m": [0.10639567007589353, -0.22979719899760281, 0.028059519747331896], "target_tool_goal_m": [0.24911517402381833, -0.0037407312896391405, 0.10387404609687048], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.009827588210635861, "joint2": 1.6731186553700184, "joint3": 1.3381007140035233, "joint4": -1.2564885275582593, "joint5": 0.006938173759654699, "joint6": -0.003391394840447067, "gripper": 0.03752399936097009}, "target_simulation_time": 6.319999999999526, "target_positions": {"joint1": -0.011726466173050612, "joint2": 1.6703139736329793, "joint3": 1.3398130750028072, "joint4": -1.2604329547235118, "joint5": 0.008189987562627841, "joint6": -0.003690569578422444, "gripper": 0.037519131803079295}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 3160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 79, "source_target": [0.5394442677497864, -1.4219950437545776, 1.8227330446243286, 1.0777734518051147, -2.1082074642181396, 0.699999988079071], "source_tool_goal_m": [0.1065336430394572, -0.22983877014022847, 0.02729415929604871], "target_tool_goal_m": [0.24912993795549823, -0.0038815928605722564, 0.10310868564558728], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.010228065140516331, "joint2": 1.676213418009616, "joint3": 1.3378931221898247, "joint4": -1.2561716916478658, "joint5": 0.007164785673851743, "joint6": -0.003421725813974592, "gripper": 0.03752399936097009}, "target_simulation_time": 6.399999999999517, "target_positions": {"joint1": -0.011669842123843461, "joint2": 1.6733138514584713, "joint3": 1.339738393964873, "joint4": -1.2597225698612107, "joint5": 0.008050926835801638, "joint6": -0.003630205934535472, "gripper": 0.0375190567488025}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999982}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999982}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999982}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999982}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 80, "source_target": [0.5373233556747437, -1.4233694076538086, 1.8251973390579224, 1.0735769271850586, -2.1080338954925537, 0.699999988079071], "source_tool_goal_m": [0.10627980256077688, -0.23029662204580362, 0.027255303889393498], "target_tool_goal_m": [0.24861844985948797, -0.003825541808615559, 0.10306983023893207], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01014077632573929, "joint2": 1.676702075309336, "joint3": 1.3377398680407995, "joint4": -1.258091705069187, "joint5": 0.007013652749940203, "joint6": -0.0033562126868804092, "gripper": 0.03752399936097009}, "target_simulation_time": 6.479999999999508, "target_positions": {"joint1": -0.011614847729191446, "joint2": 1.6752926967730286, "joint3": 1.3396237107451032, "joint4": -1.2593919450689328, "joint5": 0.007917664544825898, "joint6": -0.003571264068196512, "gripper": 0.03751914174204858}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 81, "source_target": [0.5378065705299377, -1.4228715896606445, 1.8287930488586426, 1.069222331047058, -2.1086907386779785, 0.699999988079071], "source_tool_goal_m": [0.10631563530992537, -0.23015275738867796, 0.026720143358292592], "target_tool_goal_m": [0.24876247052016562, -0.003803337066614015, 0.10253466970783118], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.010124867617142772, "joint2": 1.6788857352727729, "joint3": 1.3377230649543415, "joint4": -1.257464535794119, "joint5": 0.006906666151408766, "joint6": -0.003304428613354514, "gripper": 0.03752399936097009}, "target_simulation_time": 6.5599999999995, "target_positions": {"joint1": -0.011560947835774233, "joint2": 1.6764418439647735, "joint3": 1.3395390027196972, "joint4": -1.2590820303758763, "joint5": 0.007787269330216231, "joint6": -0.003513501046525288, "gripper": 0.03751922104704753}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 3280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 82, "source_target": [0.537860095500946, -1.4215714931488037, 1.8316960334777832, 1.0657968521118164, -2.1094300746917725, 0.699999988079071], "source_tool_goal_m": [0.10623179495769257, -0.2299869614502942, 0.026123498527153746], "target_tool_goal_m": [0.2488808813773899, -0.0036643231774512444, 0.10193802487669235], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.00979568221753139, "joint2": 1.6809219974297336, "joint3": 1.337326329938974, "joint4": -1.2565368772906353, "joint5": 0.006589541379682161, "joint6": -0.00319753435789531, "gripper": 0.03752399936097009}, "target_simulation_time": 6.639999999999491, "target_positions": {"joint1": -0.011498506817808849, "joint2": 1.6776656068555549, "joint3": 1.339464245650997, "joint4": -1.2586789445702833, "joint5": 0.007636576560079187, "joint6": -0.0034462851547276347, "gripper": 0.03751932134737434}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 3320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 83, "source_target": [0.5387466549873352, -1.4207854270935059, 1.8340530395507812, 1.0616774559020996, -2.1084728240966797, 0.699999988079071], "source_tool_goal_m": [0.1064350567810885, -0.22996258003490413, 0.025705836309027327], "target_tool_goal_m": [0.24898024211063766, -0.003839294232405992, 0.1015203626585659], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.010319280927611406, "joint2": 1.6824535020929428, "joint3": 1.3371555303571, "joint4": -1.255909770093725, "joint5": 0.006828634079490929, "joint6": -0.0032338818729706308, "gripper": 0.03752399936097009}, "target_simulation_time": 6.719999999999482, "target_positions": {"joint1": -0.011453392738875917, "joint2": 1.6792201712416812, "joint3": 1.3393849754030376, "joint4": -1.258231531173755, "joint5": 0.007526501099508118, "joint6": -0.0033982222343041445, "gripper": 0.03751935937368706}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 3360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 84, "source_target": [0.5383589863777161, -1.4192101955413818, 1.8362499475479126, 1.0580981969833374, -2.1074817180633545, 0.699999988079071], "source_tool_goal_m": [0.10633894635596276, -0.2299667978412721, 0.025159970337472998], "target_tool_goal_m": [0.24893988683683185, -0.0037537819775888977, 0.10097449668701158], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.010131336747362598, "joint2": 1.6843159161287482, "joint3": 1.3366677126540987, "joint4": -1.2555227880049311, "joint5": 0.00662164623205808, "joint6": -0.003160051180679912, "gripper": 0.03752399936097009}, "target_simulation_time": 6.799999999999473, "target_positions": {"joint1": -0.011406358617575598, "joint2": 1.6810356196364593, "joint3": 1.3392756250821218, "joint4": -1.2577856380216774, "joint5": 0.007412038160250167, "joint6": -0.003347378709467571, "gripper": 0.03751947650613498}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "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": -6.825605486855679e-05}, "target_sequence": 3400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 85, "source_target": [0.536604106426239, -1.4196022748947144, 1.8377934694290161, 1.0586004257202148, -2.109281301498413, 0.699999988079071], "source_tool_goal_m": [0.10583602797836272, -0.22984580606721203, 0.02501213622619712], "target_tool_goal_m": [0.24885839240057914, -0.0032519418461249, 0.10082666257573569], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.00882219219685101, "joint2": 1.6851254420350037, "joint3": 1.3367352061497357, "joint4": -1.2559400298446863, "joint5": 0.005671305999633434, "joint6": -0.002886770597284435, "gripper": 0.03752399936097009}, "target_simulation_time": 6.879999999999464, "target_positions": {"joint1": -0.0113187437599509, "joint2": 1.682682487702755, "joint3": 1.3391094781495476, "joint4": -1.2574612930223528, "joint5": 0.007201978789724694, "joint6": -0.0032525510030248267, "gripper": 0.037519638444838556}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 86, "source_target": [0.5376351475715637, -1.4194220304489136, 1.8392128944396973, 1.0574471950531006, -2.1085171699523926, 0.699999988079071], "source_tool_goal_m": [0.10596062753307546, -0.22962941425951425, 0.024798400649214652], "target_tool_goal_m": [0.24910189326380455, -0.003282628191663117, 0.10061292699875324], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.008971791257780267, "joint2": 1.6863731049702066, "joint3": 1.3372166129164842, "joint4": -1.2554330805096898, "joint5": 0.005623253941417915, "joint6": -0.002834986541464349, "gripper": 0.03752399936097009}, "target_simulation_time": 6.9599999999994555, "target_positions": {"joint1": -0.011233044543502511, "joint2": 1.683945912900455, "joint3": 1.339016264367151, "joint4": -1.2571351718569037, "joint5": 0.006996291674050889, "joint6": -0.0031613700218324097, "gripper": 0.037519649446348446}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 87, "source_target": [0.5385130047798157, -1.4186640977859497, 1.8393940925598145, 1.0558713674545288, -2.109043598175049, 0.699999988079071], "source_tool_goal_m": [0.10618919435613061, -0.22964587740916229, 0.024654440416237725], "target_tool_goal_m": [0.2491738506645691, -0.0034960612472750285, 0.10046896676577631], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.009617772750072716, "joint2": 1.687161586740997, "joint3": 1.3374171905601084, "joint4": -1.2553231059278898, "joint5": 0.0059074436069665535, "joint6": -0.002873621106664206, "gripper": 0.03752399936097009}, "target_simulation_time": 7.039999999999447, "target_positions": {"joint1": -0.011171567815386923, "joint2": 1.6848373869122717, "joint3": 1.3389515082982713, "joint4": -1.2568314710491724, "joint5": 0.006848437111105526, "joint6": -0.003096565895881177, "gripper": 0.03751967981616582}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999991}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 88, "source_target": [0.5379590392112732, -1.4206618070602417, 1.8380366563796997, 1.0546308755874634, -2.1080095767974854, 0.699999988079071], "source_tool_goal_m": [0.1064191402162174, -0.23026547584554052, 0.02522218251005824], "target_tool_goal_m": [0.24869964426196742, -0.003940000005127008, 0.10103670885959681], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011171567815386923, "joint2": 1.6848373869122717, "joint3": 1.3389515082982713, "joint4": -1.2568314710491724, "joint5": 0.006848437111105526, "joint6": -0.003096565895881177, "gripper": 0.03752399936097009}, "target_simulation_time": 7.119999999999438, "target_positions": {"joint1": -0.011164437706317264, "joint2": 1.6849531082980973, "joint3": 1.3389343800562048, "joint4": -1.2567944819262395, "joint5": 0.00683066145762891, "joint6": -0.003090665439254103, "gripper": 0.0375196957123779}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000075}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 89, "source_target": [0.5379919409751892, -1.4201306104660034, 1.8395880460739136, 1.0531885623931885, -2.1076834201812744, 0.6958984136581421], "source_tool_goal_m": [0.10635142895347707, -0.230139595842434, 0.02492929137602168], "target_tool_goal_m": [0.24878800568180098, -0.0038307779995798786, 0.10074381772556026], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011164437706317264, "joint2": 1.6849531082980973, "joint3": 1.3389343800562048, "joint4": -1.2567944819262395, "joint5": 0.00683066145762891, "joint6": -0.003090665439254103, "gripper": 0.03730413153444018}, "target_simulation_time": 7.199999999999429, "target_positions": {"joint1": -0.011164452827740522, "joint2": 1.6849527687838788, "joint3": 1.338934393900814, "joint4": -1.2567952732741547, "joint5": 0.006830950167816909, "joint6": -0.003090822265732529, "gripper": 0.037514946404468924}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 3600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 90, "source_target": [0.538695752620697, -1.4209752082824707, 1.8379297256469727, 1.0541210174560547, -2.1079797744750977, 0.6712890267372131], "source_tool_goal_m": [0.10662102651532054, -0.23029686438721694, 0.025300934967664945], "target_tool_goal_m": [0.24874793169055753, -0.0041349228019619665, 0.10111546131720353], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011164452827740522, "joint2": 1.6849527687838788, "joint3": 1.338934393900814, "joint4": -1.2567952732741547, "joint5": 0.006830950167816909, "joint6": -0.003090822265732529, "gripper": 0.03598492777041027}, "target_simulation_time": 7.27999999999942, "target_positions": {"joint1": -0.01116438128311652, "joint2": 1.6849527701604725, "joint3": 1.338934393348635, "joint4": -1.2567952566287952, "joint5": 0.0068310730468989665, "joint6": -0.0030908370399272823, "gripper": 0.03748323304436412}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 3640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 91, "source_target": [0.5380919575691223, -1.4207029342651367, 1.8359085321426392, 1.0542333126068115, -2.108112096786499, 0.642578125], "source_tool_goal_m": [0.106695406664277, -0.23067259046308067, 0.025529797929032386], "target_tool_goal_m": [0.24843564212632255, -0.004345157706024088, 0.10134432427857099], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01116438128311652, "joint2": 1.6849527701604725, "joint3": 1.338934393348635, "joint4": -1.2567952566287952, "joint5": 0.0068310730468989665, "joint6": -0.0030908370399272823, "gripper": 0.034445859375000006}, "target_simulation_time": 7.3599999999994115, "target_positions": {"joint1": -0.011164678283076547, "joint2": 1.684952767259211, "joint3": 1.3389343906152955, "joint4": -1.2567952278641106, "joint5": 0.006840600123703078, "joint6": -0.0030920122142279118, "gripper": 0.037177020428964244}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "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": 0.06131250000000002}, {"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": -6.825605486855679e-05}, "target_sequence": 3680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 92, "source_target": [0.5391236543655396, -1.420262098312378, 1.837409257888794, 1.0534775257110596, -2.107314348220825, 0.62890625], "source_tool_goal_m": [0.10676943887433356, -0.23036957988977128, 0.025251142220111128], "target_tool_goal_m": [0.248738434139837, -0.00429708492565599, 0.10106566856964971], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011164678283076547, "joint2": 1.684952767259211, "joint3": 1.3389343906152955, "joint4": -1.2567952278641106, "joint5": 0.006840600123703078, "joint6": -0.0030920122142279118, "gripper": 0.03371296875}, "target_simulation_time": 7.439999999999403, "target_positions": {"joint1": -0.011164966116092755, "joint2": 1.6849527645992792, "joint3": 1.3389343895119583, "joint4": -1.256795207364443, "joint5": 0.006847248657288803, "joint6": -0.0030927768156029777, "gripper": 0.03646966194739071}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000005}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 93, "source_target": [0.5385876297950745, -1.4202961921691895, 1.8373301029205322, 1.0539823770523071, -2.1075758934020996, 0.6097655892372131], "source_tool_goal_m": [0.10664087403649306, -0.2303767147640286, 0.025261653651220267], "target_tool_goal_m": [0.24868309866803964, -0.0041832644565370425, 0.10107618000075885], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011164966116092755, "joint2": 1.6849527645992792, "joint3": 1.3389343895119583, "joint4": -1.256795207364443, "joint5": 0.006847248657288803, "joint6": -0.0030927768156029777, "gripper": 0.03268691995791027}, "target_simulation_time": 7.519999999999394, "target_positions": {"joint1": -0.011165069130956492, "joint2": 1.6849527634342116, "joint3": 1.3389343882501736, "joint4": -1.2567951962591768, "joint5": 0.006850914391163394, "joint6": -0.0030931998776197248, "gripper": 0.03555866334278205}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000007}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 94, "source_target": [0.5397248268127441, -1.4210152626037598, 1.8368690013885498, 1.0539659261703491, -2.107942819595337, 0.57421875], "source_tool_goal_m": [0.10693483643896295, -0.2303931642312859, 0.025457352310152614], "target_tool_goal_m": [0.24877992576480773, -0.0044559675325335415, 0.1012718786596912], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011165069130956492, "joint2": 1.6849527634342116, "joint3": 1.3389343882501736, "joint4": -1.2567951962591768, "joint5": 0.006850914391163394, "joint6": -0.0030931998776197248, "gripper": 0.03078140625}, "target_simulation_time": 7.599999999999385, "target_positions": {"joint1": -0.011165331038988813, "joint2": 1.6849527606536239, "joint3": 1.338934385033264, "joint4": -1.2567951669246555, "joint5": 0.006860718226873414, "joint6": -0.0030943727615954796, "gripper": 0.03432241055000007}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 3800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 95, "source_target": [0.5380193591117859, -1.4204548597335815, 1.8374402523040771, 1.053959608078003, -2.106543779373169, 0.5414062142372131], "source_tool_goal_m": [0.10653367072162324, -0.23043812497292207, 0.025276093598674595], "target_tool_goal_m": [0.24858668713532434, -0.004109436705266914, 0.10109061994821317], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011165331038988813, "joint2": 1.6849527606536239, "joint3": 1.338934385033264, "joint4": -1.2567951669246555, "joint5": 0.006860718226873414, "joint6": -0.0030943727615954796, "gripper": 0.02902246683291027}, "target_simulation_time": 7.679999999999376, "target_positions": {"joint1": -0.011165545747341478, "joint2": 1.6849527583920765, "joint3": 1.3389343830412817, "joint4": -1.2567951461048867, "joint5": 0.006867694998851985, "joint6": -0.0030951660314938356, "gripper": 0.03267649817380332}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131249999999981}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 96, "source_target": [0.5401946306228638, -1.4202325344085693, 1.8371275663375854, 1.0544456243515015, -2.1093249320983887, 0.5003905892372131], "source_tool_goal_m": [0.10692019931595936, -0.23016792855730142, 0.02527141635433751], "target_tool_goal_m": [0.24897851801264903, -0.004357086718859653, 0.10108594270387611], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011165545747341478, "joint2": 1.6849527583920765, "joint3": 1.3389343830412817, "joint4": -1.2567951461048867, "joint5": 0.006867694998851985, "joint6": -0.0030951660314938356, "gripper": 0.02682379495791027}, "target_simulation_time": 7.759999999999367, "target_positions": {"joint1": -0.011165682482535959, "joint2": 1.6849527568561733, "joint3": 1.3389343810839425, "joint4": -1.2567951294628186, "joint5": 0.0068734368661677835, "joint6": -0.0030958257401249713, "gripper": 0.030775941249548914}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999998}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999998}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 3880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 97, "source_target": [0.5395998358726501, -1.420670509338379, 1.837296724319458, 1.0535564422607422, -2.109708547592163, 0.4491210877895355], "source_tool_goal_m": [0.10688275749316527, -0.23035117626275564, 0.025339673405754784], "target_tool_goal_m": [0.24879818853511432, -0.004392802738356351, 0.10115419975529338], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011165682482535959, "joint2": 1.6849527568561733, "joint3": 1.3389343810839425, "joint4": -1.2567951294628186, "joint5": 0.0068734368661677835, "joint6": -0.0030958257401249713, "gripper": 0.024075456711735048}, "target_simulation_time": 7.839999999999359, "target_positions": {"joint1": -0.011165879508403817, "joint2": 1.6849527547494676, "joint3": 1.3389343783854344, "joint4": -1.2567951055682647, "joint5": 0.00688187633955807, "joint6": -0.0030967940342554717, "gripper": 0.028562012083511924}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 3920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 98, "source_target": [0.5397958755493164, -1.4209423065185547, 1.8375682830810547, 1.0551658868789673, -2.1089208126068115, 0.42109373211860657], "source_tool_goal_m": [0.1067792448476572, -0.23010002134050206, 0.025331064346761314], "target_tool_goal_m": [0.24898649207784837, -0.0042035121648390595, 0.10114559069629991], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011165879508403817, "joint2": 1.6849527547494676, "joint3": 1.3389343783854344, "joint4": -1.2567951055682647, "joint5": 0.00688187633955807, "joint6": -0.0030967940342554717, "gripper": 0.022573030291455135}, "target_simulation_time": 7.91999999999935, "target_positions": {"joint1": -0.011165833892683311, "joint2": 1.6849527552131642, "joint3": 1.3389343800364952, "joint4": -1.256795116454192, "joint5": 0.006877721489566855, "joint6": -0.0030962834992634028, "gripper": 0.0262313084042894}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 3960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 99, "source_target": [0.538641631603241, -1.4199453592300415, 1.837005376815796, 1.0561628341674805, -2.109002113342285, 0.377685546875], "source_tool_goal_m": [0.10649860695987681, -0.23011045780543019, 0.025213822622431076], "target_tool_goal_m": [0.24887036003407165, -0.003953106086479188, 0.10102834897196966], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011165833892683311, "joint2": 1.6849527552131642, "joint3": 1.3389343800364952, "joint4": -1.256795116454192, "joint5": 0.006877721489566855, "joint6": -0.0030962834992634028, "gripper": 0.020246103515625002}, "target_simulation_time": 7.999999999999341, "target_positions": {"joint1": -0.0111657235652467, "joint2": 1.684952756206467, "joint3": 1.3389343801850229, "joint4": -1.25679512326086, "joint5": 0.006875320580441872, "joint6": -0.0030960419412795217, "gripper": 0.024133999232474293}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486855679e-05}, "target_sequence": 4000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 100, "source_target": [0.5400225520133972, -1.421844244003296, 1.835713505744934, 1.0552783012390137, -2.111260414123535, 0.3267578184604645], "source_tool_goal_m": [0.10704709155563367, -0.23044336756372738, 0.025751121174289238], "target_tool_goal_m": [0.24877708986702438, -0.004576799337043688, 0.10156564752382782], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.0111657235652467, "joint2": 1.684952756206467, "joint3": 1.3389343801850229, "joint4": -1.25679512326086, "joint5": 0.006875320580441872, "joint6": -0.0030960419412795217, "gripper": 0.017516086257014958}, "target_simulation_time": 8.079999999999368, "target_positions": {"joint1": -0.011165854385638595, "joint2": 1.6849527550122634, "joint3": 1.3389343785822845, "joint4": -1.2567951076975086, "joint5": 0.006881273500921077, "joint6": -0.0030967086193913994, "gripper": 0.021912687602997433}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "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": -6.825605486855679e-05}, "target_sequence": 4040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 101, "source_target": [0.5424154996871948, -1.4208481311798096, 1.8367687463760376, 1.055544137954712, -2.1081502437591553, 0.3141113221645355], "source_tool_goal_m": [0.10731208189879655, -0.22990375000191654, 0.025419886504182643], "target_tool_goal_m": [0.24936692932658244, -0.004611877070968069, 0.10123441285372123], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011165854385638595, "joint2": 1.6849527550122634, "joint3": 1.3389343785822845, "joint4": -1.2567951076975086, "joint5": 0.006881273500921077, "joint6": -0.0030967086193913994, "gripper": 0.016838161789860046}, "target_simulation_time": 8.159999999999394, "target_positions": {"joint1": -0.011165626451806967, "joint2": 1.6849527570986902, "joint3": 1.338934382599977, "joint4": -1.2567951406514135, "joint5": 0.006868037765248964, "joint6": -0.003095244081298704, "gripper": 0.01985177962004575}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_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": -6.825605486855679e-05}, "target_sequence": 4080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 102, "source_target": [0.5404874682426453, -1.4221946001052856, 1.835746169090271, 1.0536441802978516, -2.1079163551330566, 0.25908201932907104], "source_tool_goal_m": [0.10727352372778066, -0.2306407510261528, 0.025834055299655836], "target_tool_goal_m": [0.24868424785332124, -0.004857066535971232, 0.10164858164919444], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.013333568043964199, "joint2": 1.683734709859796, "joint3": 1.338469835532375, "joint4": -1.2584545744357196, "joint5": 0.008311821343366346, "joint6": -0.0034773952875883527, "gripper": 0.01388827670472009}, "target_simulation_time": 8.239999999999421, "target_positions": {"joint1": -0.011234238603702689, "joint2": 1.6849183381999953, "joint3": 1.3389198594010956, "joint4": -1.25703549002071, "joint5": 0.0070336678620846116, "joint6": -0.0031697753359888415, "gripper": 0.018073149037012362}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0613124999999999}, {"geom": "pickup_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": -6.825605486855679e-05}, "target_sequence": 4120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 103, "source_target": [0.5411567687988281, -1.421620488166809, 1.835882544517517, 1.0564857721328735, -2.109485626220703, 0.23105467855930328], "source_tool_goal_m": [0.10713503347246098, -0.23012576156429423, 0.025671332672753705], "target_tool_goal_m": [0.24909839849580243, -0.004535786638546615, 0.10148585902229229], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011234238603702689, "joint2": 1.6849183381999953, "joint3": 1.3389198594010956, "joint4": -1.25703549002071, "joint5": 0.0070336678620846116, "joint6": -0.0031697753359888415, "gripper": 0.012385851083227569}, "target_simulation_time": 8.319999999999448, "target_positions": {"joint1": -0.01124395298863498, "joint2": 1.6849132877921302, "joint3": 1.3389174693377723, "joint4": -1.2570674327433993, "joint5": 0.007059276261722141, "joint6": -0.0031786670555909073, "gripper": 0.016022703343354313}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 4160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 104, "source_target": [0.5401111841201782, -1.4202322959899902, 1.838254451751709, 1.0538440942764282, -2.1092588901519775, 0.259765625], "source_tool_goal_m": [0.10683503094043309, -0.23006080979702764, 0.025123248847711666], "target_tool_goal_m": [0.24904323848581195, -0.004239172680998756, 0.10093777519725025], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01124395298863498, "joint2": 1.6849132877921302, "joint3": 1.3389174693377723, "joint4": -1.2570674327433993, "joint5": 0.007059276261722141, "joint6": -0.0031786670555909073, "gripper": 0.013924921875000001}, "target_simulation_time": 8.399999999999475, "target_positions": {"joint1": -0.011243085722998555, "joint2": 1.684913313159885, "joint3": 1.3389175023730002, "joint4": -1.257066877450489, "joint5": 0.007019295326847699, "joint6": -0.003174287358781981, "gripper": 0.015074910097426336}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 4200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 105, "source_target": [0.5397162437438965, -1.4195293188095093, 1.8363723754882812, 1.0542075634002686, -2.108710289001465, 0.2119140625], "source_tool_goal_m": [0.10689422695785908, -0.2303258854351752, 0.02525055617694061], "target_tool_goal_m": [0.24882547201928093, -0.0043935855667424405, 0.1010650825264792], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011243085722998555, "joint2": 1.684913313159885, "joint3": 1.3389175023730002, "joint4": -1.257066877450489, "joint5": 0.007019295326847699, "joint6": -0.003174287358781981, "gripper": 0.0113598046875}, "target_simulation_time": 8.479999999999501, "target_positions": {"joint1": -0.011243184320375606, "joint2": 1.6849133127177875, "joint3": 1.338917498889778, "joint4": -1.2570668686325017, "joint5": 0.0070290679735946545, "joint6": -0.003175436247595902, "gripper": 0.014644197542477373}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486855679e-05}, "target_sequence": 4240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 106, "source_target": [0.5402551889419556, -1.4200217723846436, 1.8387941122055054, 1.0546311140060425, -2.1099231243133545, 0.19414062798023224], "source_tool_goal_m": [0.1067345647302419, -0.22983088328915607, 0.024999903539551088], "target_tool_goal_m": [0.24921345834721736, -0.004060712488892464, 0.10081442988908967], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011243184320375606, "joint2": 1.6849133127177875, "joint3": 1.338917498889778, "joint4": -1.2570668686325017, "joint5": 0.0070290679735946545, "joint6": -0.003175436247595902, "gripper": 0.010407047034757479}, "target_simulation_time": 8.559999999999528, "target_positions": {"joint1": -0.011243534538047474, "joint2": 1.6849133098686946, "joint3": 1.3389174976297795, "joint4": -1.2570668410968548, "joint5": 0.007040036886244922, "joint6": -0.0031765245568000974, "gripper": 0.013553071335327533}, "target_object": {"position_m": [0.2500009098, -2.715396712e-17, 0.1000531129730139], "quaternion_wxyz": [0.7071067811865477, 0.0, 0.0, 0.7071067811865477], "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": -6.825605486855679e-05}, "target_sequence": 4280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 107, "source_target": [0.5391009449958801, -1.4206016063690186, 1.837727427482605, 1.0559204816818237, -2.1112565994262695, 0.13808593153953552], "source_tool_goal_m": [0.10655946600748148, -0.2300122779247293, 0.02523630544982601], "target_tool_goal_m": [0.24898248420904714, -0.003970950524018218, 0.10105083179936458], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011243534538047474, "joint2": 1.6849133098686946, "joint3": 1.3389174976297795, "joint4": -1.2570668410968548, "joint5": 0.007040036886244922, "joint6": -0.0031765245568000974, "gripper": 0.007402194992985045}, "target_simulation_time": 8.639999999999555, "target_positions": {"joint1": -0.011221771545498008, "joint2": 1.6849042300661405, "joint3": 1.3389276555000227, "joint4": -1.257084780946504, "joint5": 0.006874641237427138, "joint6": -0.0031062948443087183, "gripper": 0.012104557397427601}, "target_object": {"position_m": [0.24999997533900878, -9.156913913099888e-05, 0.10003187705788884], "quaternion_wxyz": [0.7071038424477782, 0.001507969342156566, -0.001529803759112543, 0.7071064571367666], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2841369641755671}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.03007983721536588}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.27770921004675136}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.023450085546262378}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.27760474065756013}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.1819174079737495}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.03737887895363694}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0}], "left_finger_force_n": 0.4969010275849466, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -8.949196999362419e-05}, "target_sequence": 4320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 108, "source_target": [0.5385353565216064, -1.4205317497253418, 1.8389848470687866, 1.0540231466293335, -2.108769178390503, 0.11757812649011612], "source_tool_goal_m": [0.10646884722578455, -0.23010578693016048, 0.025074867703131054], "target_tool_goal_m": [0.24886328189050969, -0.003924356128805165, 0.10088939405266964], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011221771545498008, "joint2": 1.6849042300661405, "joint3": 1.3389276555000227, "joint4": -1.257084780946504, "joint5": 0.006874641237427138, "joint6": -0.0031062948443087183, "gripper": 0.00630285945487874}, "target_simulation_time": 8.719999999999581, "target_positions": {"joint1": -0.011092087814534468, "joint2": 1.6848593164598167, "joint3": 1.3389729368363548, "joint4": -1.2571720120414873, "joint5": 0.005946275251766822, "joint6": -0.0027404589660419117, "gripper": 0.01179750553497772}, "target_object": {"position_m": [0.2499937628883832, -0.00030700481325678726, 0.10001112452509181], "quaternion_wxyz": [0.707074915865139, 0.004730135406299422, -0.004936780356631096, 0.7071055913886244], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.20576680992848806}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.003731305955974014}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.19707495360576954}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.2130608456458061}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.11778973694238348}], "left_finger_force_n": 0.33085058258818956, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.00011024450279065179}, "target_sequence": 4360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 109, "source_target": [0.5422475934028625, -1.4209785461425781, 1.835531234741211, 1.0544060468673706, -2.110375165939331, 0.08749999850988388], "source_tool_goal_m": [0.10750410696068483, -0.2302831196166948, 0.02562964856764227], "target_tool_goal_m": [0.24909605483435523, -0.004930131459117792, 0.10144417491718086], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.013948207765966069, "joint2": 1.684763323129119, "joint3": 1.3389616011473928, "joint4": -1.257279834250153, "joint5": 0.007846932056998232, "joint6": -0.003244797233170414, "gripper": 0.004690499920121261}, "target_simulation_time": 8.799999999999608, "target_positions": {"joint1": -0.011088499384151356, "joint2": 1.6848129667548282, "joint3": 1.3390172759677612, "joint4": -1.2572714641223668, "joint5": 0.0051927919673048885, "joint6": -0.002445351389207958, "gripper": 0.01150363136801393}, "target_object": {"position_m": [0.24998457329242346, -0.00046675422547802655, 0.10001473854764491], "quaternion_wxyz": [0.7070068686318642, 0.006825901962617663, -0.0072833645513044176, 0.7071362297114865], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.27014590670302124}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.249784414820493}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.28633484685658683}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.17989165257905457}], "left_finger_force_n": 0.46622649943564143, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.0001066304802375545}, "target_sequence": 4400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 110, "source_target": [0.5398998260498047, -1.419535517692566, 1.8398215770721436, 1.0548372268676758, -2.11102557182312, 0.05332031100988388], "source_tool_goal_m": [0.10652316832472508, -0.2296211409709155, 0.024766553328544244], "target_tool_goal_m": [0.24932321774884414, -0.003789376179225823, 0.10058107967808283], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.011088499384151356, "joint2": 1.6848129667548282, "joint3": 1.3390172759677612, "joint4": -1.2572714641223668, "joint5": 0.0051927919673048885, "joint6": -0.002445351389207958, "gripper": 0.0028582733576212613}, "target_simulation_time": 8.879999999999635, "target_positions": {"joint1": -0.01077439483028666, "joint2": 1.6847510014505729, "joint3": 1.3390797900309714, "joint4": -1.2573951627983533, "joint5": 0.0040210220678280565, "joint6": -0.0019628118595805847, "gripper": 0.011023080117638953}, "target_object": {"position_m": [0.2499738941354612, -0.0006677182034714386, 0.10002573289326419], "quaternion_wxyz": [0.7069051186104248, 0.009484579229830897, -0.010223786613384866, 0.7071708918122258], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.32199628574254163}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.29085315058186867}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3433647608655532}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.22713001607329275}], "left_finger_force_n": 0.570494776938846, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -9.563613461827103e-05}, "target_sequence": 4440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 111, "source_target": [0.540847897529602, -1.4206429719924927, 1.8399924039840698, 1.0543938875198364, -2.111762762069702, 0.03281249850988388], "source_tool_goal_m": [0.10676841527185588, -0.22963442323328637, 0.02495033384403121], "target_tool_goal_m": [0.24940439856429103, -0.004016719193291821, 0.10076486019356978], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01077439483028666, "joint2": 1.6847510014505729, "joint3": 1.3390797900309714, "joint4": -1.2573951627983533, "joint5": 0.0040210220678280565, "joint6": -0.0019628118595805847, "gripper": 0.0017589374201212613}, "target_simulation_time": 8.959999999999662, "target_positions": {"joint1": -0.009966211703613441, "joint2": 1.6846762353518714, "joint3": 1.3391568433816003, "joint4": -1.2575311264271105, "joint5": 0.0026443764933129278, "joint6": -0.001400285392253789, "gripper": 0.010392072045797777}, "target_object": {"position_m": [0.24996108881466908, -0.0008714691162722396, 0.1000502346543372], "quaternion_wxyz": [0.7067685443601086, 0.012079287519583148, -0.013136050353877046, 0.7072197393294485], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3505012816181024}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.30798851843221003}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.36978199048526134}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.24874476835161494}], "left_finger_force_n": 0.6185267588368762, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -7.113437354526464e-05}, "target_sequence": 4480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 112, "source_target": [0.5406061410903931, -1.4192456007003784, 1.8400105237960815, 1.0510225296020508, -2.1090080738067627, 0.03828125074505806], "source_tool_goal_m": [0.10691617449831321, -0.2299916777416255, 0.024736584816792653], "target_tool_goal_m": [0.2491367436923347, -0.004286444477198439, 0.10055111116633124], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.013478703819316033, "joint2": 1.6873614011013838, "joint3": 1.3378913955773848, "joint4": -1.2559537773456966, "joint5": 0.0049775198057800535, "joint6": -0.0020199188445967292, "gripper": 0.0020520937899393696}, "target_simulation_time": 9.039999999999688, "target_positions": {"joint1": -0.00981979103279964, "joint2": 1.6846738994908799, "joint3": 1.3391858457124746, "joint4": -1.2575356100630806, "joint5": 0.0014643992117433426, "joint6": -0.000959847692140424, "gripper": 0.010040568645770489}, "target_object": {"position_m": [0.2499701156024938, -0.0009938102979583506, 0.10007138695494043], "quaternion_wxyz": [0.7067663498251356, 0.013510502267727454, -0.014330045788353434, 0.7071728521875196], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.329465050517321}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3072054291055334}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.35776652350407867}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2332894530752654}], "left_finger_force_n": 0.5910559765793441, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -4.9982072942031386e-05}, "target_sequence": 4520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 113, "source_target": [0.5408329963684082, -1.4185839891433716, 1.840673804283142, 1.0511530637741089, -2.1093132495880127, 0.01777343638241291], "source_tool_goal_m": [0.10684702221177385, -0.2297812577772785, 0.024522330769906425], "target_tool_goal_m": [0.24930118525383552, -0.004143782112111879, 0.10033685711944501], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.013620392129522124, "joint2": 1.6881005308023678, "joint3": 1.3378697784886047, "joint4": -1.2552510565169748, "joint5": 0.003990661850980325, "joint6": -0.001630720732242396, "gripper": 0.0009527577525909459}, "target_simulation_time": 9.119999999999715, "target_positions": {"joint1": -0.009814295600185414, "joint2": 1.6847013702270588, "joint3": 1.33920275888829, "joint4": -1.2574831223804706, "joint5": 0.0003311821879162816, "joint6": -0.0005302681883460002, "gripper": 0.009709569419336378}, "target_object": {"position_m": [0.24998860142240528, -0.0011173816266642508, 0.1000809771361487], "quaternion_wxyz": [0.7068304158306881, 0.015028270953104942, -0.015410868789487508, 0.7070554571261931], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.35423403233719536}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3487825220404408}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3985407712748679}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.26794980255048967}], "left_finger_force_n": 0.6664905738253576, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -4.039189173375701e-05}, "target_sequence": 4560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 114, "source_target": [0.5415856838226318, -1.419472098350525, 1.8414543867111206, 1.0513378381729126, -2.109365224838257, 0.010937499813735485], "source_tool_goal_m": [0.10693370545505221, -0.22961377531512017, 0.024574489530479693], "target_tool_goal_m": [0.2494859419448424, -0.00415869149281122, 0.10038901588001828], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.014209694723021086, "joint2": 1.6881111000838875, "joint3": 1.3382400378065278, "joint4": -1.2548946586303413, "joint5": 0.0032553529766469916, "joint6": -0.0013065644441860372, "gripper": 0.0005863124900151576}, "target_simulation_time": 9.199999999999742, "target_positions": {"joint1": -0.00982074427366215, "joint2": 1.684727647446601, "joint3": 1.3392298644945686, "joint4": -1.2574203796352168, "joint5": -0.000834577813538319, "joint6": -9.719008780826509e-05, "gripper": 0.009403929662454055}, "target_object": {"position_m": [0.25001132072229315, -0.001228506444540595, 0.10009589600069195], "quaternion_wxyz": [0.7069534356469831, 0.01631801536771361, -0.01620463795870096, 0.7068861095749536], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.35483870620760033}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.34082633000982476}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.02726341989947414}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3881186245189974}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2579530161348708}], "left_finger_force_n": 0.6733350605533424, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -2.547302719051181e-05}, "target_sequence": 4600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 115, "source_target": [0.5379763841629028, -1.4180177450180054, 1.8417980670928955, 1.050761342048645, -2.111401319503784, 0.0], "source_tool_goal_m": [0.10620605352301815, -0.229887538758972, 0.02426834052971004], "target_tool_goal_m": [0.24896121463002371, -0.0036031996527155024, 0.10008286687924862], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.013300180963768815, "joint2": 1.6884918512906688, "joint3": 1.3369503949107258, "joint4": -1.2556696259080955, "joint5": 0.001482466842991814, "joint6": -0.0007121242690678103, "gripper": 0.0}, "target_simulation_time": 9.279999999999768, "target_positions": {"joint1": -0.009798117668179562, "joint2": 1.684761768409868, "joint3": 1.33922726220684, "joint4": -1.2573934983369333, "joint5": -0.0020908362137215053, "joint6": 0.00038361615842977644, "gripper": 0.00907254144961314}, "target_object": {"position_m": [0.2500188825843379, -0.0013303839340301864, 0.10010846372665477], "quaternion_wxyz": [0.7069940268822272, 0.01724646275622482, -0.01699834722638319, 0.7068048257240627], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.36057842619327496}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3499496933144246}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.03856580126059755}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.39701545423051826}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.26089403357974483}], "left_finger_force_n": 0.6964752890708606, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -1.2905301227689181e-05}, "target_sequence": 4640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 116, "source_target": [0.538345217704773, -1.419020652770996, 1.842199683189392, 1.0486196279525757, -2.1109611988067627, 0.0054687499068677425], "source_tool_goal_m": [0.10644709066456856, -0.23013968982278377, 0.024423486647302983], "target_tool_goal_m": [0.2488242821488988, -0.003917522474186737, 0.10023801299684157], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.014759547203285522, "joint2": 1.6879472734833307, "joint3": 1.3369473809602235, "joint4": -1.256231056649961, "joint5": 0.0012149662998918657, "joint6": -0.0004935767838748575, "gripper": 0.0002931562450075788}, "target_simulation_time": 9.359999999999795, "target_positions": {"joint1": -0.009825031861549425, "joint2": 1.6847851103496214, "joint3": 1.3392213632358148, "joint4": -1.2574029174918913, "joint5": -0.003180685886839568, "joint6": 0.0007956364120821867, "gripper": 0.008815222659193316}, "target_object": {"position_m": [0.25001687511745824, -0.0014079257406161194, 0.10012987127589212], "quaternion_wxyz": [0.7069844610006499, 0.017679999216546383, -0.017520949145001408, 0.7067909209040405], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3374033046371773}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.33364358867038885}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.031105942440833444}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.37728164673068293}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.23732914280089748}], "left_finger_force_n": 0.6457167319724139, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 8.502248009661928e-06}, "target_sequence": 4680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 117, "source_target": [0.5379450917243958, -1.419905662536621, 1.845029592514038, 1.0491712093353271, -2.106771469116211, 0.0], "source_tool_goal_m": [0.10608077735881505, -0.22970910909546083, 0.024189312118359035], "target_tool_goal_m": [0.24907532679736882, -0.003421825757500507, 0.10000383846789762], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01396073500473474, "joint2": 1.6888170065254864, "joint3": 1.3370322184000316, "joint4": -1.2552981389640139, "joint5": -0.0004208991754993015, "joint6": 6.360140282133796e-05, "gripper": 0.0}, "target_simulation_time": 9.439999999999822, "target_positions": {"joint1": -0.009835404212400577, "joint2": 1.684832457846364, "joint3": 1.3392087115697435, "joint4": -1.257346622059375, "joint5": -0.004277936601928495, "joint6": 0.0012103842792803427, "gripper": 0.008545866349277368}, "target_object": {"position_m": [0.2500268448354055, -0.0014809985504753102, 0.10014205061740909], "quaternion_wxyz": [0.7070587014098575, 0.018184522105175623, -0.017844019046633748, 0.706695766862004], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3445309198952605}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3283462228116856}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.030736950510779616}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.37909046961083503}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.23768321242134674}], "left_finger_force_n": 0.6475106325429614, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 2.068158952663046e-05}, "target_sequence": 4720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 118, "source_target": [0.5403367280960083, -1.4172883033752441, 1.8365428447723389, 1.0530755519866943, -2.1096131801605225, 0.0], "source_tool_goal_m": [0.10697104120569902, -0.23019252210613547, 0.024830983732823136], "target_tool_goal_m": [0.2489755515088019, -0.0044125184983161226, 0.10064551008236172], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.017174809911557724, "joint2": 1.686954340892623, "joint3": 1.337762897621265, "joint4": -1.256506150700874, "joint5": 0.0006116305941605126, "joint6": -8.698289819661733e-05, "gripper": 0.0}, "target_simulation_time": 9.519999999999849, "target_positions": {"joint1": -0.010386609985784905, "joint2": 1.6848389583352688, "joint3": 1.3392171149960592, "joint4": -1.2573800557290404, "joint5": -0.005015707908174275, "joint6": 0.0014553434776876217, "gripper": 0.008489626778469447}, "target_object": {"position_m": [0.250022186269925, -0.001524174268887582, 0.1001664267248221], "quaternion_wxyz": [0.7071316157977987, 0.018044232732670935, -0.01795134627695518, 0.706623685402018], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3021453333700773}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.30425194765748764}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.03780863539400112}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.417489002593265}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2640668141055048}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10572578313304302}], "left_finger_force_n": 0.7193644520927709, "right_finger_force_n": 0.10572578313304302, "bilateral_contact": true, "supported": true, "lift_m": 4.505769693963213e-05}, "target_sequence": 4760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 119, "source_target": [0.53863126039505, -1.419403314590454, 1.8419264554977417, 1.0513185262680054, -2.111623764038086, 0.0], "source_tool_goal_m": [0.10633779446872073, -0.22983515582412656, 0.024496357992055254], "target_tool_goal_m": [0.24905877066581242, -0.0037026998900393632, 0.10031088434159384], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015799125876170703, "joint2": 1.687965422021709, "joint3": 1.3374403529849463, "joint4": -1.2558200622219367, "joint5": -0.0014043884270744733, "joint6": 0.0004974584422891954, "gripper": 0.0}, "target_simulation_time": 9.599999999999875, "target_positions": {"joint1": -0.010758945363222082, "joint2": 1.6848725156019382, "joint3": 1.3392069312155557, "joint4": -1.257357645584327, "joint5": -0.0056276702509511015, "joint6": 0.0016733910059954637, "gripper": 0.008465187245181622}, "target_object": {"position_m": [0.2500236673639088, -0.0015386148831984302, 0.10017975506382326], "quaternion_wxyz": [0.7072592529739511, 0.017573285187741816, -0.01760756132444827, 0.7065164559404437], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2743872594954922}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.27290654963362176}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3628075754543198}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.21419708652916594}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.1480028197322636}], "left_finger_force_n": 0.5770046619834858, "right_finger_force_n": 0.1480028197322636, "bilateral_contact": true, "supported": true, "lift_m": 5.83860359407995e-05}, "target_sequence": 4800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 120, "source_target": [0.5414533019065857, -1.4203146696090698, 1.8395673036575317, 1.0497946739196777, -2.1080331802368164, 0.00820312462747097], "source_tool_goal_m": [0.10726603061746265, -0.2302264027821911, 0.025010112477823615], "target_tool_goal_m": [0.2490569691529222, -0.004692778184282797, 0.1008246388273622], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.018889073566831567, "joint2": 1.6865487089328584, "joint3": 1.338162940748672, "joint4": -1.2566044408782011, "joint5": -0.00021195625558735436, "joint6": 0.00023644252477098265, "gripper": 0.0004397343550303153}, "target_simulation_time": 9.679999999999902, "target_positions": {"joint1": -0.011672764177997765, "joint2": 1.684876063919686, "joint3": 1.3392166957791156, "joint4": -1.257389402796759, "joint5": -0.00631842250103308, "joint6": 0.0018891716380894038, "gripper": 0.008473826327561839}, "target_object": {"position_m": [0.25002031750218695, -0.0016030471396963125, 0.10019792747509254], "quaternion_wxyz": [0.7073786686052009, 0.017772480451738838, -0.018051833480150704, 0.7063806972510861], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2858226246267661}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.27299906197566304}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.04805642300338255}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.448137466498057}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.27878669781581616}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.09709012705083482}], "left_finger_force_n": 0.7749805873172557, "right_finger_force_n": 0.09709012705083482, "bilateral_contact": true, "supported": true, "lift_m": 7.655844721007887e-05}, "target_sequence": 4840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 121, "source_target": [0.5412089824676514, -1.419174075126648, 1.8415640592575073, 1.0524502992630005, -2.110031843185425, 0.0], "source_tool_goal_m": [0.1067518045035486, -0.22946434844951166, 0.02449078831119282], "target_tool_goal_m": [0.24955224222212535, -0.003937016468146324, 0.1003053146607314], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.017470712645012276, "joint2": 1.6884271145960845, "joint3": 1.3382539978283736, "joint4": -1.2546577831688075, "joint5": -0.002449421106557447, "joint6": 0.0008634658736305842, "gripper": 0.0}, "target_simulation_time": 9.759999999999929, "target_positions": {"joint1": -0.01221675273910437, "joint2": 1.684925003559141, "joint3": 1.3392176101066633, "joint4": -1.2572941525812458, "joint5": -0.007010749245678204, "joint6": 0.002122630693201762, "gripper": 0.008460227319266402}, "target_object": {"position_m": [0.2500395162077911, -0.0016478739082112811, 0.10019836921759999], "quaternion_wxyz": [0.7076547957285483, 0.017944413950030727, -0.017984423586909222, 0.7061014435607846], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.27280740552652283}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2808587724132735}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.0}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.38582672251436845}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.22719557585680264}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.1439943942930187}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.024918540854125835}], "left_finger_force_n": 0.6130222983711711, "right_finger_force_n": 0.16891293514714453, "bilateral_contact": true, "supported": true, "lift_m": 7.700018971752709e-05}, "target_sequence": 4880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 122, "source_target": [0.5397549271583557, -1.4197980165481567, 1.8400065898895264, 1.0530295372009277, -2.1101908683776855, 0.0], "source_tool_goal_m": [0.10663028286109236, -0.22986331331783513, 0.024811942541764276], "target_tool_goal_m": [0.24914442520678576, -0.003978517206854918, 0.10062646889130286], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.018111421483007772, "joint2": 1.6871736854913286, "joint3": 1.338019744745037, "joint4": -1.2560995564346296, "joint5": -0.003079177120605376, "joint6": 0.0010798082184044185, "gripper": 0.0}, "target_simulation_time": 9.839999999999955, "target_positions": {"joint1": -0.0126159667945348, "joint2": 1.6849511389691458, "joint3": 1.339215869275277, "joint4": -1.2572744319240012, "joint5": -0.007529021702047584, "joint6": 0.002292812848907191, "gripper": 0.008442118001765187}, "target_object": {"position_m": [0.25004330276748316, -0.0016646248302298933, 0.1002084460949234], "quaternion_wxyz": [0.7077896552223424, 0.01759582266564872, -0.017691317034457504, 0.7059824419109477], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.25709694120564813}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2534194167192317}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3878051794082577}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.22539487156043225}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.14932327765447664}], "left_finger_force_n": 0.6132000509686899, "right_finger_force_n": 0.14932327765447664, "bilateral_contact": true, "supported": true, "lift_m": 8.707706704093321e-05}, "target_sequence": 4920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 123, "source_target": [0.541161835193634, -1.4200931787490845, 1.840193271636963, 1.0519764423370361, -2.1116464138031006, 0.0], "source_tool_goal_m": [0.10696685232837602, -0.22983520236003915, 0.024853072198531], "target_tool_goal_m": [0.2492978375563417, -0.004272902048031948, 0.10066759854806959], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01928211978090877, "joint2": 1.6871961319312914, "joint3": 1.3383325501555459, "joint4": -1.2557975746283785, "joint5": -0.003084661459762974, "joint6": 0.0011140678335031253, "gripper": 0.0}, "target_simulation_time": 9.919999999999982, "target_positions": {"joint1": -0.013254092295285133, "joint2": 1.6849752332619128, "joint3": 1.3392186381680855, "joint4": -1.2572479719802425, "joint5": -0.008128061218811699, "joint6": 0.0024842409644161515, "gripper": 0.008435435666779742}, "target_object": {"position_m": [0.2500492920588491, -0.001707264692226888, 0.10021775802338113], "quaternion_wxyz": [0.7079628283824049, 0.017627191614247195, -0.017756132638195466, 0.7058063725260038], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.25453044789828305}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2521382823768229}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.009481770424458516}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.417854352651674}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.24815198417774462}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.14427622875147286}], "left_finger_force_n": 0.6754881072538771, "right_finger_force_n": 0.14427622875147286, "bilateral_contact": true, "supported": true, "lift_m": 9.638899549867241e-05}, "target_sequence": 4960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 124, "source_target": [0.5411589741706848, -1.4179023504257202, 1.8384666442871094, 1.0546215772628784, -2.105909824371338, 0.0], "source_tool_goal_m": [0.10683329082969391, -0.22963698181323147, 0.024659547136346452], "target_tool_goal_m": [0.24942673907178375, -0.0040764955948084745, 0.10047407348588504], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.019247013145225134, "joint2": 1.687844036434771, "joint3": 1.3382710342274384, "joint4": -1.2551960875847092, "joint5": -0.004128830285194637, "joint6": 0.001423968940857122, "gripper": 0.0}, "target_simulation_time": 10.000000000000009, "target_positions": {"joint1": -0.013775609327038146, "joint2": 1.685017567275977, "joint3": 1.339215024783198, "joint4": -1.2571751412001426, "joint5": -0.00871883226888704, "joint6": 0.0026758432566629103, "gripper": 0.008427047242747768}, "target_object": {"position_m": [0.2500630164147448, -0.0017411170696078125, 0.10021877761517535], "quaternion_wxyz": [0.7081875925329701, 0.017620634850450036, -0.017606405055379533, 0.7055847656453823], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2553345413947097}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.24856989160596807}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.39953545841897314}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.23206077339540063}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.15000079341728326}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.01804554498606633}], "left_finger_force_n": 0.6315962318143737, "right_finger_force_n": 0.1680463384033496, "bilateral_contact": true, "supported": true, "lift_m": 9.740858729288815e-05}, "target_sequence": 5000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 125, "source_target": [0.5411142110824585, -1.4196405410766602, 1.8384411334991455, 1.0546478033065796, -2.1094202995300293, 0.0], "source_tool_goal_m": [0.1069099302808442, -0.22976909245247262, 0.02497895296045302], "target_tool_goal_m": [0.24933612380343884, -0.00419617850770927, 0.10079347930999161], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.020031839023638757, "joint2": 1.6868742706249569, "joint3": 1.3385554641671664, "joint4": -1.2558893656103067, "joint5": -0.004548310118461436, "joint6": 0.0015697759354959242, "gripper": 0.0}, "target_simulation_time": 10.080000000000036, "target_positions": {"joint1": -0.01431700126685151, "joint2": 1.6850377794238367, "joint3": 1.339221385677937, "joint4": -1.2571514740167054, "joint5": -0.009282742044966832, "joint6": 0.002856474044880708, "gripper": 0.008419361127195941}, "target_object": {"position_m": [0.2500694418845996, -0.001775603570996656, 0.10022826243347434], "quaternion_wxyz": [0.7083574254154542, 0.017557918731598003, -0.01755558601409954, 0.705417095588351], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2389890413181999}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.23656082121845948}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.4094612074810482}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.23755912682369051}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.1512156870977848}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.01224598740521352}], "left_finger_force_n": 0.6470203343047387, "right_finger_force_n": 0.1634616745029983, "bilateral_contact": true, "supported": true, "lift_m": 0.00010689340559187632}, "target_sequence": 5040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 126, "source_target": [0.5438597202301025, -1.4211409091949463, 1.836381435394287, 1.0591506958007812, -2.110529899597168, 0.0], "source_tool_goal_m": [0.10735133482398608, -0.2293630989139582, 0.025480133855780837], "target_tool_goal_m": [0.24987190129269887, -0.00444195125333544, 0.10129466020531941], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02112860348090189, "joint2": 1.6859569963174612, "joint3": 1.340124319455985, "joint4": -1.2553968243345246, "joint5": -0.0047524255412191106, "joint6": 0.0016551747465166113, "gripper": 0.0}, "target_simulation_time": 10.160000000000062, "target_positions": {"joint1": -0.015029879250227104, "joint2": 1.6850332184512198, "joint3": 1.3392667297098575, "joint4": -1.2571226324019287, "joint5": -0.009908061296976012, "joint6": 0.0030477906452195547, "gripper": 0.008418736709896993}, "target_object": {"position_m": [0.25008546853973784, -0.0018328293765101625, 0.10024740097928748], "quaternion_wxyz": [0.7086144508076898, 0.017923340243703463, -0.017746795408189204, 0.7051449249861788], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2301405911223365}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2166819084929999}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.4329604591958265}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.25672692232866634}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.15565964601508098}], "left_finger_force_n": 0.6896873815244928, "right_finger_force_n": 0.15565964601508098, "bilateral_contact": true, "supported": true, "lift_m": 0.00012603195140502288}, "target_sequence": 5080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 127, "source_target": [0.542121171951294, -1.4202877283096313, 1.83781898021698, 1.0616971254348755, -2.110013484954834, 0.0], "source_tool_goal_m": [0.10664236720868113, -0.2289062869228653, 0.025096014247414353], "target_tool_goal_m": [0.2500164770473423, -0.0036256984928868946, 0.10091054059695292], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.019456732428243688, "joint2": 1.6871481951062675, "joint3": 1.3398133257582345, "joint4": -1.2544778860726864, "joint5": -0.006958266623613497, "joint6": 0.0022665498255461615, "gripper": 0.0}, "target_simulation_time": 10.240000000000089, "target_positions": {"joint1": -0.01524113402535443, "joint2": 1.6850620699046712, "joint3": 1.3392962034737717, "joint4": -1.2570098676329255, "joint5": -0.010386513936406187, "joint6": 0.003200337898300953, "gripper": 0.00840261421846814}, "target_object": {"position_m": [0.2501143367064699, -0.0018388084598208792, 0.1002512098954653], "quaternion_wxyz": [0.7089307663574883, 0.017738311135034268, -0.017063642996672148, 0.7048484609599034], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.22855057055962053}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.19189506772001358}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3502411183530052}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.19173293320398438}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.17043696267317157}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.040968514278888396}], "left_finger_force_n": 0.5419740515569895, "right_finger_force_n": 0.21140547695205997, "bilateral_contact": true, "supported": true, "lift_m": 0.00012984086758284497}, "target_sequence": 5120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 128, "source_target": [0.5401342511177063, -1.4200670719146729, 1.8364025354385376, 1.0551725625991821, -2.1092658042907715, 0.01777343638241291], "source_tool_goal_m": [0.10691949067507535, -0.23019206445125273, 0.025332093396456437], "target_tool_goal_m": [0.2489563716327327, -0.004365618613144732, 0.10114661974599504], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.021792302360297222, "joint2": 1.6855598976873056, "joint3": 1.3384105959234065, "joint4": -1.257309846181263, "joint5": -0.006023453321837523, "joint6": 0.0020423139734776115, "gripper": 0.0009527577525909459}, "target_simulation_time": 10.320000000000116, "target_positions": {"joint1": -0.015838796313349057, "joint2": 1.685054916326006, "joint3": 1.3392988384592637, "joint4": -1.2570707001264725, "joint5": -0.010864817372097105, "joint6": 0.003348266458331763, "gripper": 0.008409801201388782}, "target_object": {"position_m": [0.250103906559663, -0.001874112723221284, 0.1002670422081887], "quaternion_wxyz": [0.7089764068730426, 0.01755890234909465, -0.017258971363242177, 0.704802289548756], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2006749723090985}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.19753538392259554}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.40364948143561624}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2281901084079268}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.13735693168895208}], "left_finger_force_n": 0.631839589843543, "right_finger_force_n": 0.13735693168895208, "bilateral_contact": true, "supported": true, "lift_m": 0.0001456731803062411}, "target_sequence": 5160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 129, "source_target": [0.5396676659584045, -1.4214726686477661, 1.8353759050369263, 1.0569956302642822, -2.109764814376831, 0.00820312462747097], "source_tool_goal_m": [0.10686509669888841, -0.23029325118704666, 0.0257077586138358], "target_tool_goal_m": [0.24884397943017994, -0.004354777107969755, 0.1015222849633744], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.022198771051676155, "joint2": 1.6844471891561859, "joint3": 1.3387625738379652, "joint4": -1.2581754628220718, "joint5": -0.0066346938310302295, "joint6": 0.0022249621292633795, "gripper": 0.0004397343550303153}, "target_simulation_time": 10.400000000000142, "target_positions": {"joint1": -0.016543659676537106, "joint2": 1.685015177946116, "joint3": 1.3393119481852827, "joint4": -1.2572012398718375, "joint5": -0.011465910927763018, "joint6": 0.003553472000354383, "gripper": 0.008411810010285731}, "target_object": {"position_m": [0.25008157226936834, -0.0019363287003138574, 0.10029259215031987], "quaternion_wxyz": [0.7089444929470341, 0.017646359427824235, -0.01796818762495476, 0.7048144835007947], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.1855793429740926}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.16723419678920115}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.4141201796033368}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2252701040146553}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.16128575255102778}], "left_finger_force_n": 0.6393902836179921, "right_finger_force_n": 0.16128575255102778, "bilateral_contact": true, "supported": true, "lift_m": 0.00017122312243740556}, "target_sequence": 5200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 130, "source_target": [0.5393069982528687, -1.4199005365371704, 1.8342745304107666, 1.0581766366958618, -2.1102750301361084, 0.010937499813735485], "source_tool_goal_m": [0.10674479389434538, -0.23024028408221575, 0.02555710044980218], "target_tool_goal_m": [0.24884626145986768, -0.0042256002687261875, 0.10137162679934075], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.022374713616702346, "joint2": 1.6849032033166704, "joint3": 1.3385859064660206, "joint4": -1.257975218071618, "joint5": -0.0075839962127639375, "joint6": 0.002522774854307199, "gripper": 0.0005863124900151576}, "target_simulation_time": 10.48000000000017, "target_positions": {"joint1": -0.017073512610616653, "joint2": 1.6849899171765428, "joint3": 1.3393149358363405, "joint4": -1.2572930135427907, "joint5": -0.012005160295599213, "joint6": 0.0037335818144807317, "gripper": 0.008410191425195671}, "target_object": {"position_m": [0.2500647185377719, -0.0019812211972650923, 0.1003104728361355], "quaternion_wxyz": [0.7089450046447969, 0.017571887521831534, -0.018355904137734913, 0.7048058384699981], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.17996304445421596}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.1505375451247242}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3960856488687734}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.20239068634359625}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.1741963920875082}], "left_finger_force_n": 0.5984763352123696, "right_finger_force_n": 0.1741963920875082, "bilateral_contact": true, "supported": true, "lift_m": 0.00018910380825304385}, "target_sequence": 5240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 131, "source_target": [0.5389103293418884, -1.4177453517913818, 1.8326793909072876, 1.061981439590454, -2.1106209754943848, 0.0], "source_tool_goal_m": [0.10643727766961229, -0.22988970713083695, 0.025335798305206575], "target_tool_goal_m": [0.24904713902971135, -0.0038136077935332865, 0.10115032465474516], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.021691347484496405, "joint2": 1.6857146321709418, "joint3": 1.3386170236961885, "joint4": -1.2571917066293292, "joint5": -0.008926204466510464, "joint6": 0.0029165965619882958, "gripper": 0.0}, "target_simulation_time": 10.560000000000196, "target_positions": {"joint1": -0.0172730850259434, "joint2": 1.6849946787446586, "joint3": 1.3393072729717772, "joint4": -1.25730115452122, "joint5": -0.012404309768116644, "joint6": 0.003863190135443489, "gripper": 0.008388821784842257}, "target_object": {"position_m": [0.2500619569786761, -0.001987933645037574, 0.10031456923067143], "quaternion_wxyz": [0.7090244769170685, 0.01714807616664535, -0.01803418054285431, 0.7047446366936098], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.16815797058125131}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.14317293026570824}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3593830432733728}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.1711204732494308}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.19102098675923823}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.029746294735337405}], "left_finger_force_n": 0.5305035165228036, "right_finger_force_n": 0.22076728149457564, "bilateral_contact": true, "supported": true, "lift_m": 0.00019320020278897065}, "target_sequence": 5280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 132, "source_target": [0.5427227020263672, -1.4213287830352783, 1.831689715385437, 1.0653414726257324, -2.1124212741851807, 0.0], "source_tool_goal_m": [0.10715359917344258, -0.22949695197442374, 0.026084706505561273], "target_tool_goal_m": [0.2496754148771879, -0.004313600077390779, 0.10189923285509986], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.023277031730494148, "joint2": 1.6841932154312673, "joint3": 1.3406861337612013, "joint4": -1.2568611741535325, "joint5": -0.008422224586173751, "joint6": 0.002806681388961414, "gripper": 0.0}, "target_simulation_time": 10.640000000000223, "target_positions": {"joint1": -0.017762854845290544, "joint2": 1.684966156406954, "joint3": 1.3393526108189102, "joint4": -1.2573012774054273, "joint5": -0.012820037615691985, "joint6": 0.0039805638580766994, "gripper": 0.00837888980691274}, "target_object": {"position_m": [0.25007293526338725, -0.0020241300987886763, 0.10033327400240116], "quaternion_wxyz": [0.709318094529603, 0.017172248635384038, -0.01793606674187387, 0.7044510289292851], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.1429416320659316}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.14888662809832645}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.40409753672261706}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2150386083502118}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.1801418801237868}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.010638702313610677}], "left_finger_force_n": 0.6191361450728289, "right_finger_force_n": 0.19078058243739746, "bilateral_contact": true, "supported": true, "lift_m": 0.00021190497451870072}, "target_sequence": 5320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 133, "source_target": [0.5431692004203796, -1.4199395179748535, 1.829030156135559, 1.0660380125045776, -2.112616539001465, 0.0], "source_tool_goal_m": [0.10738972176175882, -0.22970312845642246, 0.026189695662878057], "target_tool_goal_m": [0.24957828617228622, -0.004605993053665046, 0.10200422201241666], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02442965271826106, "joint2": 1.6838252106080436, "joint3": 1.3406829986118438, "joint4": -1.257250081176102, "joint5": -0.008398995406419307, "joint6": 0.0028072668291878565, "gripper": 0.0}, "target_simulation_time": 10.72000000000025, "target_positions": {"joint1": -0.01857912938086698, "joint2": 1.6849182197610815, "joint3": 1.3394112272121947, "joint4": -1.2573320555296112, "joint5": -0.01336080013529768, "joint6": 0.00415081429786888, "gripper": 0.008381713972596204}, "target_object": {"position_m": [0.25008144404945987, -0.0021163157479148664, 0.10036102645740876], "quaternion_wxyz": [0.7097272988618478, 0.017487663193816803, -0.018256440879417773, 0.70402275904455], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.15554771630269548}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.16122765246373327}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.4261782782397581}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.23497752870967664}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.1765586856001039}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.008461593190691397}], "left_finger_force_n": 0.6611558069494348, "right_finger_force_n": 0.1850202787907953, "bilateral_contact": true, "supported": true, "lift_m": 0.00023965742952629376}, "target_sequence": 5360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 134, "source_target": [0.5426371097564697, -1.4218969345092773, 1.8258317708969116, 1.0682958364486694, -2.1097490787506104, 0.0], "source_tool_goal_m": [0.10753850159914173, -0.23018122476261263, 0.026963810713132974], "target_tool_goal_m": [0.24920148700143477, -0.004922576199829609, 0.10277833706267156], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02583698096359418, "joint2": 1.6813771398561246, "joint3": 1.3411569346182628, "joint4": -1.2593403982644724, "joint5": -0.008562005458844604, "joint6": 0.0028755434706922408, "gripper": 0.0}, "target_simulation_time": 10.800000000000276, "target_positions": {"joint1": -0.019762391050773976, "joint2": 1.6844449532570356, "joint3": 1.3394853025439328, "joint4": -1.2575585516008072, "joint5": -0.013839807973815694, "joint6": 0.004295353200744752, "gripper": 0.008382901572078008}, "target_object": {"position_m": [0.25005127455449305, -0.00232654476154967, 0.1004952319773005], "quaternion_wxyz": [0.7101208649708544, 0.017432483694615915, -0.018718100695804984, 0.7036150214084579], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.20081549161606227}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.357149033403043}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.18851135127136245}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.20217111200649102}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06059335529221179}], "left_finger_force_n": 0.5456603846744055, "right_finger_force_n": 0.2627644672987028, "bilateral_contact": true, "supported": true, "lift_m": 0.0003738629494180329}, "target_sequence": 5400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 135, "source_target": [0.5434468388557434, -1.422296404838562, 1.8198577165603638, 1.0701816082000732, -2.1113884449005127, 0.004101562313735485], "source_tool_goal_m": [0.10817402056369656, -0.23089166150807178, 0.02784480037402881], "target_tool_goal_m": [0.24879910485877785, -0.005768658806922224, 0.1036593267235674], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02876449122197844, "joint2": 1.678529499394249, "joint3": 1.341685842574154, "joint4": -1.2615652772006523, "joint5": -0.007896373355188082, "joint6": 0.0027145206557218247, "gripper": 0.00021986717751515766}, "target_simulation_time": 10.880000000000303, "target_positions": {"joint1": -0.022743194308144164, "joint2": 1.6830697264729757, "joint3": 1.339631906087795, "joint4": -1.2581340600332496, "joint5": -0.013651413119789443, "joint6": 0.004170691570234388, "gripper": 0.008106383223589924}, "target_object": {"position_m": [0.24998262971813257, -0.0031528445280200514, 0.09981990311969981], "quaternion_wxyz": [0.7141155465342135, 0.002861242517709919, -0.0020139783306838297, 0.7000191021541348], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.22620568418266424}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.22152708186799328}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.23509025056921534}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.1478472421506226}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.18629598858360708}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.09690867966186535}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.12461141413290801}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04216627179660741}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.3192264635226758}], "left_finger_force_n": 0.8329198468948258, "right_finger_force_n": 0.3192264635226758, "bilateral_contact": true, "supported": true, "lift_m": -0.00030146590818265484}, "target_sequence": 5440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 136, "source_target": [0.5417841076850891, -1.4206697940826416, 1.831146240234375, 1.0635545253753662, -2.109813928604126, 0.00820312462747097], "source_tool_goal_m": [0.10714419635495574, -0.22987971429918322, 0.026062546916506932], "target_tool_goal_m": [0.2493249011226053, -0.004450567768922772, 0.1018770732660455], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02604584673230442, "joint2": 1.6836582842802008, "joint3": 1.3398246124829378, "joint4": -1.257360867040592, "joint5": -0.011451805879905482, "joint6": 0.003587585549586377, "gripper": 0.0004397343550303153}, "target_simulation_time": 10.96000000000033, "target_positions": {"joint1": -0.02370613995543377, "joint2": 1.6821516461794015, "joint3": 1.339728208207191, "joint4": -1.2582615150238388, "joint5": -0.014152416215646427, "joint6": 0.004366499819873713, "gripper": 0.008122639676720462}, "target_object": {"position_m": [0.24997853837800427, -0.00337306373944246, 0.10001178779711734], "quaternion_wxyz": [0.7144269227152462, 0.005894970491126719, -0.00549574555264697, 0.6996636464783309], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.21758443973021094}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.20011865581324623}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.14735438182174426}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06822614096121578}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.12176351607874636}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.043221364919818914}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0901070275766886}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.01208874370157027}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.052087194056003365}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07707331968261882}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10848793020448352}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.030391641580535977}], "left_finger_force_n": 0.48276117505978416, "right_finger_force_n": 0.26804008552364167, "bilateral_contact": true, "supported": true, "lift_m": -0.00010958123076512671}, "target_sequence": 5480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 137, "source_target": [0.5420109629631042, -1.4208277463912964, 1.8293153047561646, 1.065991997718811, -2.111030340194702, 0.0], "source_tool_goal_m": [0.1071926285759509, -0.2298614177963314, 0.02631378009447298], "target_tool_goal_m": [0.24935989466860178, -0.004487512606460616, 0.10212830644401155], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.026706444251241676, "joint2": 1.6827369143299924, "joint3": 1.3400010279828014, "joint4": -1.2574188199153888, "joint5": -0.012154495288188, "joint6": 0.003837002319892622, "gripper": 0.0}, "target_simulation_time": 11.040000000000356, "target_positions": {"joint1": -0.023771751213480418, "joint2": 1.682140169863095, "joint3": 1.3397588253842234, "joint4": -1.2582654101953796, "joint5": -0.014300997248669702, "joint6": 0.004411363883606861, "gripper": 0.008105560309680808}, "target_object": {"position_m": [0.24998448216231095, -0.003385888624826966, 0.10002375775806131], "quaternion_wxyz": [0.7145402992440418, 0.005874911940364297, -0.0054474463238408, 0.6995484053977086], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.20576347556015773}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.18750256468926424}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.1421959299176983}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06553863022290908}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.12069409921669132}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04448653298450182}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.09404860578439712}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.018253133942039514}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06578154222904746}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0869240579111443}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.012821729546302268}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.11352188338014786}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.03740577074797414}], "left_finger_force_n": 0.4852169320682372, "right_finger_force_n": 0.316454983814616, "bilateral_contact": true, "supported": true, "lift_m": -9.761126982114898e-05}, "target_sequence": 5520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 138, "source_target": [0.5425565242767334, -1.4202864170074463, 1.8282965421676636, 1.0649895668029785, -2.1099061965942383, 0.0], "source_tool_goal_m": [0.10745069147582334, -0.23006834439088933, 0.026368841460370773], "target_tool_goal_m": [0.24927042571218205, -0.004800077628001156, 0.10218336780990936], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02764730226925525, "joint2": 1.68251498705341, "joint3": 1.3399485872783667, "joint4": -1.2577120660518826, "joint5": -0.011721247802281395, "joint6": 0.0037272184617166406, "gripper": 0.0}, "target_simulation_time": 11.120000000000383, "target_positions": {"joint1": -0.02388382644210247, "joint2": 1.682127489488397, "joint3": 1.3397854307378179, "joint4": -1.2582755024602734, "joint5": -0.014396271562979223, "joint6": 0.00443061971065971, "gripper": 0.008100914767779624}, "target_object": {"position_m": [0.24998851956043927, -0.0034007963855290303, 0.10003491912054766], "quaternion_wxyz": [0.7146458952009825, 0.005872777721356878, -0.0054398872144062645, 0.6994406069004835], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.19572342945144097}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.1778774884797307}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.14325446801706493}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06817481943161834}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.12227910752897593}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04762377801189524}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.09627089622300268}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.022013937212367822}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06444473928941576}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08507187338325838}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.011067943296524926}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.11100652864052828}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.03650381854331628}], "left_finger_force_n": 0.49961700642492496, "right_finger_force_n": 0.3080949031530436, "bilateral_contact": true, "supported": true, "lift_m": -8.644990733480684e-05}, "target_sequence": 5560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 139, "source_target": [0.5423067212104797, -1.4204262495040894, 1.8275011777877808, 1.0668915510177612, -2.110954999923706, 0.0], "source_tool_goal_m": [0.1073449423638478, -0.22999215215771732, 0.02648022290534187], "target_tool_goal_m": [0.2492992911906489, -0.004675264378794518, 0.10229474925488047], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02739216041336375, "joint2": 1.6822408087314271, "joint3": 1.340152014166186, "joint4": -1.2578270721550975, "joint5": -0.012063532181750646, "joint6": 0.003811924833204589, "gripper": 0.0}, "target_simulation_time": 11.20000000000041, "target_positions": {"joint1": -0.023975094501672036, "joint2": 1.682110872457961, "joint3": 1.3398139327694067, "joint4": -1.2582899121640099, "joint5": -0.014476845826351548, "joint6": 0.004446013074433062, "gripper": 0.008098161367728545}, "target_object": {"position_m": [0.24999208275370716, -0.0034138828653320014, 0.10004711275838295], "quaternion_wxyz": [0.714744063051396, 0.005858331902535756, -0.005424207694453897, 0.6993405338252522], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.1829896808739789}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.1652016723588634}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.13834400182516957}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0652040049300906}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.11927330840828775}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04650229723824331}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0956088413197338}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.023190502243798938}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06844689404576451}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08723643194245188}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.014877829696716987}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.11085346962318066}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.03818384255515636}], "left_finger_force_n": 0.48812295596532396, "right_finger_force_n": 0.3195984678632704, "bilateral_contact": true, "supported": true, "lift_m": -7.42562694995147e-05}, "target_sequence": 5600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 140, "source_target": [0.5439722537994385, -1.4199188947677612, 1.82699453830719, 1.0687029361724854, -2.1108298301696777, 0.0], "source_tool_goal_m": [0.10753906060325485, -0.22962593787533267, 0.026434978690977884], "target_tool_goal_m": [0.24970501718911406, -0.004712014652356928, 0.10224950504051647], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027533474314106045, "joint2": 1.6827282891676745, "joint3": 1.3407566208090262, "joint4": -1.2568055451717526, "joint5": -0.012112053264282434, "joint6": 0.0038196921229840253, "gripper": 0.0}, "target_simulation_time": 11.280000000000436, "target_positions": {"joint1": -0.024065347738806055, "joint2": 1.6821108493854, "joint3": 1.3398456598449673, "joint4": -1.2582639647261034, "joint5": -0.014543432354460827, "joint6": 0.004460338092794136, "gripper": 0.008096861850409483}, "target_object": {"position_m": [0.2500042119257192, -0.003426870748992842, 0.10005385287604879], "quaternion_wxyz": [0.7148720168519395, 0.005907767659727493, -0.0053514862345801825, 0.6992098822230713], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.18346283695717283}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.15909142948179725}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.13542686594970607}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0653813412874452}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.11753053781143076}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04781340041713172}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.09531009004287802}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.025912193614330267}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0688581723335862}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08650725029129433}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.01723703834623336}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10868159022343034}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.03906699088133041}], "left_finger_force_n": 0.48737442912292206, "right_finger_force_n": 0.3203510420758746, "bilateral_contact": true, "supported": true, "lift_m": -6.751615183367421e-05}, "target_sequence": 5640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 141, "source_target": [0.5403774976730347, -1.420583724975586, 1.8259387016296387, 1.0704267024993896, -2.111004590988159, 0.0], "source_tool_goal_m": [0.10688148776791859, -0.23002076986454287, 0.026681274760014445], "target_tool_goal_m": [0.24909718963832672, -0.004266062179641589, 0.10249580110955303], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.024065347738806055, "joint2": 1.6821108493854, "joint3": 1.3398456598449673, "joint4": -1.2582639647261034, "joint5": -0.014543432354460827, "joint6": 0.004460338092794136, "gripper": 0.0}, "target_simulation_time": 11.360000000000463, "target_positions": {"joint1": -0.02406524823711979, "joint2": 1.6820979673828635, "joint3": 1.3398630253124, "joint4": -1.258280445933865, "joint5": -0.014640444863978645, "joint6": 0.004499822552735003, "gripper": 0.008089554270426754}, "target_object": {"position_m": [0.2500053382927087, -0.0034239899802068763, 0.10006243976298607], "quaternion_wxyz": [0.7149483352184552, 0.005751006109312565, -0.005222951212504115, 0.6991341249558068], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.16676994704826847}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.14717411796592464}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.11438528314195064}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.046283727650546135}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.10541351594412837}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.037469608967501455}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.09424511667053903}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.026468070136326433}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0880385209785643}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.02030520223890386}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0969534980827806}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.029103859982328863}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.1081399664466605}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.040114857722698204}], "left_finger_force_n": 0.4242653225109921, "right_finger_force_n": 0.38265590545193634, "bilateral_contact": true, "supported": true, "lift_m": -5.892926489639572e-05}, "target_sequence": 5680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 142, "source_target": [0.5436086058616638, -1.4222332239151, 1.8237218856811523, 1.0733201503753662, -2.1142358779907227, 0.0], "source_tool_goal_m": [0.10755901536889316, -0.2297954570781425, 0.027253170371552338], "target_tool_goal_m": [0.24955894819114016, -0.004794537230824533, 0.10306769672109092], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02788273155931076, "joint2": 1.6803528933818306, "joint3": 1.3416636147753167, "joint4": -1.2584161272972538, "joint5": -0.012122221680746321, "joint6": 0.0038312957557001736, "gripper": 0.0}, "target_simulation_time": 11.44000000000049, "target_positions": {"joint1": -0.02419749487350792, "joint2": 1.6820434890921114, "joint3": 1.3399229009494693, "joint4": -1.258338627116991, "joint5": -0.01468600551868456, "joint6": 0.004497040553042511, "gripper": 0.008093436221796275}, "target_object": {"position_m": [0.25000714558783027, -0.003438909040479172, 0.10009004008710323], "quaternion_wxyz": [0.7150390002921136, 0.005780537797883838, -0.00528620329614301, 0.6990406780000253], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.13278386299628173}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.11388049254802597}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.13038306414486567}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06319924493852559}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.11667631733831298}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04971065806294342}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.09961873666667917}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.03288124123188455}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07131783966444893}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.00579787357595099}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08487075361330063}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.018268029460857562}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10186855286680518}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.03508301269619706}], "left_finger_force_n": 0.49246926238321137, "right_finger_force_n": 0.31720606187756034, "bilateral_contact": true, "supported": true, "lift_m": -3.132894077922943e-05}, "target_sequence": 5720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 143, "source_target": [0.5398092269897461, -1.420569896697998, 1.8214260339736938, 1.075886607170105, -2.112180471420288, 0.0], "source_tool_goal_m": [0.10681392185044901, -0.23013932105991802, 0.027235930923140875], "target_tool_goal_m": [0.24896405136986355, -0.00424988183878107, 0.10305045727267947], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.026515451775238907, "joint2": 1.6799004929782737, "joint3": 1.3406726628711423, "joint4": -1.2598339680568063, "joint5": -0.013160561577129163, "joint6": 0.0040908313365368865, "gripper": 0.0}, "target_simulation_time": 11.520000000000516, "target_positions": {"joint1": -0.024266345770101998, "joint2": 1.6819780484596094, "joint3": 1.3399654927321314, "joint4": -1.258427916371025, "joint5": -0.014748100346030125, "joint6": 0.004499839370010757, "gripper": 0.008092139396083314}, "target_object": {"position_m": [0.24999891640639896, -0.0034498211497610122, 0.10011809232026558], "quaternion_wxyz": [0.7150891908610802, 0.005724804136244791, -0.0053842474789097695, 0.6989890454151151], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.10446277525409262}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.09323935088041642}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.12319598443568978}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05662284177347157}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.11065382044805856}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04427856706299751}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.09504463977592215}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.02887502638844136}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07793833489282925}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.011913283625699631}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.09036814896372669}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.024223681529477396}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10596211569965137}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.03962706363661288}], "left_finger_force_n": 0.45867087988458094, "right_finger_force_n": 0.3500326283479972, "bilateral_contact": true, "supported": true, "lift_m": -3.2767076168782605e-06}, "target_sequence": 5760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 144, "source_target": [0.5411388874053955, -1.420992136001587, 1.822013258934021, 1.0760849714279175, -2.111072540283203, 0.01503906212747097], "source_tool_goal_m": [0.1070040930227493, -0.2299089772637381, 0.027229840526818566], "target_tool_goal_m": [0.24924512266538276, -0.004334699724767198, 0.10304436687635715], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.026776942378324974, "joint2": 1.680183903487523, "joint3": 1.3411432284511007, "joint4": -1.259179838447768, "joint5": -0.01309552488708895, "joint6": 0.004060528376151249, "gripper": 0.0008061796675303153}, "target_simulation_time": 11.600000000000543, "target_positions": {"joint1": -0.024331480494933416, "joint2": 1.6819287142677426, "joint3": 1.3400027222027984, "joint4": -1.2584844368216415, "joint5": -0.014775261759975775, "joint6": 0.004490701115053744, "gripper": 0.008098721480718447}, "target_object": {"position_m": [0.24999580763056228, -0.0034588718328902434, 0.10013918779011728], "quaternion_wxyz": [0.7151493969085937, 0.005691674549923746, -0.005431580920247274, 0.6989273516402121], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.08933840268741279}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.07871777218521656}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.11621007531315089}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.051102228690928}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.10355649151150803}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.038628716446103176}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08780386550941448}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.02306030333628966}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07119909182232084}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.006570558281857814}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08375096588770364}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.019017014856942238}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.09949398411628077}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0345877269709598}], "left_finger_force_n": 0.4203616808073942, "right_finger_force_n": 0.3146193419360651, "bilateral_contact": true, "supported": true, "lift_m": 1.7818762234819707e-05}, "target_sequence": 5800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 145, "source_target": [0.5424153804779053, -1.4216578006744385, 1.8190271854400635, 1.0807093381881714, -2.1119587421417236, 0.0068359375], "source_tool_goal_m": [0.10721694449137316, -0.2297308073806078, 0.02770869565558068], "target_tool_goal_m": [0.24948752392448642, -0.004459906913935211, 0.10352322200511926], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027136887360398577, "joint2": 1.6790890398485179, "joint3": 1.342218807809543, "joint4": -1.2593545343342185, "joint5": -0.01293946792475806, "joint6": 0.004002597391240337, "gripper": 0.0003664453125}, "target_simulation_time": 11.68000000000057, "target_positions": {"joint1": -0.024404593764119693, "joint2": 1.6818613185898637, "joint3": 1.3400615548830497, "joint4": -1.2585564910725788, "joint5": -0.014807047212719587, "joint6": 0.004481475152278833, "gripper": 0.008097348182937994}, "target_object": {"position_m": [0.2499944406311281, -0.0034714810196862077, 0.10016830812795384], "quaternion_wxyz": [0.7152145161500004, 0.005715361057007075, -0.005516008370116679, 0.6988598601922779], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.05804173584058045}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.04892995411319404}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.1219942319824072}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05805279763851841}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.10694455716119705}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04321832761761845}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0882203454133215}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.024709595075810442}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0699566527352336}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.007835059154340884}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08487072257834793}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.021368238617851625}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.1035846749451689}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0398796026764785}], "left_finger_force_n": 0.44313985488887303, "right_finger_force_n": 0.32749495070742146, "bilateral_contact": true, "supported": true, "lift_m": 4.693910007137758e-05}, "target_sequence": 5840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 146, "source_target": [0.5431324243545532, -1.422934651374817, 1.8166357278823853, 1.0838571786880493, -2.1106767654418945, 0.0], "source_tool_goal_m": [0.10740857429097864, -0.229757284464307, 0.028235977900542192], "target_tool_goal_m": [0.24953636458516337, -0.004643666237059484, 0.10405050425008078], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027671590544522884, "joint2": 1.6776976099051577, "joint3": 1.3430550117844757, "joint4": -1.2600650038658476, "joint5": -0.012676838910624655, "joint6": 0.003914623224606351, "gripper": 0.0}, "target_simulation_time": 11.760000000000597, "target_positions": {"joint1": -0.02451615363043955, "joint2": 1.6816175658595238, "joint3": 1.3401354712317661, "joint4": -1.2586836052840733, "joint5": -0.01476051373579305, "joint6": 0.00443960844024142, "gripper": 0.008091175304918742}, "target_object": {"position_m": [0.24998431549984337, -0.0035138086771033276, 0.10024114038694588], "quaternion_wxyz": [0.7152937023837286, 0.0056506726143617176, -0.005609658449753176, 0.6987785922316607], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0227994132466461}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.016223860247246584}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.11911736350677508}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05709026388675738}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.10381259642702705}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04200642636252268}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08477922098991808}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.023190181486967266}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0768557509412256}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.015323036656032834}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.09204376458183429}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.03036929261321614}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.11111568103069262}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04920532236804731}], "left_finger_force_n": 0.42999605265996754, "right_finger_force_n": 0.3749128481910488, "bilateral_contact": true, "supported": true, "lift_m": 0.00011977135906342251}, "target_sequence": 5880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 147, "source_target": [0.5423976182937622, -1.4241834878921509, 1.8133095502853394, 1.0901293754577637, -2.1117255687713623, 0.0], "source_tool_goal_m": [0.10718165643051776, -0.22968053501194927, 0.028850185101428977], "target_tool_goal_m": [0.24951967808659364, -0.00440881259385669, 0.10466471145096756], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027057169901711066, "joint2": 1.6759681036429324, "joint3": 1.3438572897352434, "joint4": -1.2610396702549038, "joint5": -0.013126348527072016, "joint6": 0.0040036183385367356, "gripper": 0.0}, "target_simulation_time": 11.840000000000623, "target_positions": {"joint1": -0.024626729058866308, "joint2": 1.6808679023060922, "joint3": 1.3402149828069239, "joint4": -1.258947227456492, "joint5": -0.014552459095649575, "joint6": 0.004344978641447571, "gripper": 0.00808370691564908}, "target_object": {"position_m": [0.24994375979918568, -0.0035912495206715917, 0.10043439339161203], "quaternion_wxyz": [0.7153808546705975, 0.005309107112028512, -0.005639700501434915, 0.6986918061138929], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.10875642137170285}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04955975984756893}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.09734619738533533}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.03830040166151952}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08313937884577362}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.024247534032589817}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08473641701140251}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.025803432083346713}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.09610686986292268}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.03705096367077774}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.11037613563372045}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.051131923588886304}], "left_finger_force_n": 0.40134969314449004, "right_finger_force_n": 0.4052057418510564, "bilateral_contact": true, "supported": false, "lift_m": 0.0003130243637295693}, "target_sequence": 5920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 148, "source_target": [0.5428797602653503, -1.4233897924423218, 1.8088924884796143, 1.0947884321212769, -2.1121299266815186, 0.0], "source_tool_goal_m": [0.10732010547686419, -0.22970929365709164, 0.029262553887074688], "target_tool_goal_m": [0.24954623635909146, -0.004545235575682793, 0.10507708023661327], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027357319768277825, "joint2": 1.6746971576267409, "joint3": 1.344349125379075, "joint4": -1.2614592902227408, "joint5": -0.012796610272098137, "joint6": 0.0038765852969112648, "gripper": 0.0}, "target_simulation_time": 11.92000000000065, "target_positions": {"joint1": -0.02476795425493906, "joint2": 1.6795332856420362, "joint3": 1.340335864990288, "joint4": -1.2592552249477185, "joint5": -0.014322335429331527, "joint6": 0.004241236087592224, "gripper": 0.00808127319662802}, "target_object": {"position_m": [0.2499039564393795, -0.003671484715182846, 0.10077362094283629], "quaternion_wxyz": [0.7154722423869212, 0.0047642868637926125, -0.005874471857351319, 0.6986002165222316], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.10493056522893725}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04825228009565059}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.09595991030986563}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.03939304396334582}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0847807903443846}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.028332650956557702}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0861601695400704}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.02967238266837793}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.09510809268417897}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.03852508530097331}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10632740215867992}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04960480671319002}], "left_finger_force_n": 0.4016492408987416, "right_finger_force_n": 0.40539793906547056, "bilateral_contact": true, "supported": false, "lift_m": 0.0006522519149538275}, "target_sequence": 5960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 149, "source_target": [0.5437757968902588, -1.424136996269226, 1.8033658266067505, 1.0982245206832886, -2.1114747524261475, 0.0], "source_tool_goal_m": [0.10781341569196332, -0.23015824366588508, 0.03012681381955573], "target_tool_goal_m": [0.24932681397512338, -0.005163025874095861, 0.10594134016909432], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02897192537664649, "joint2": 1.6717814691348383, "joint3": 1.34493091463317, "joint4": -1.2629564499198669, "joint5": -0.011595803162621134, "joint6": 0.0035142691605742397, "gripper": 0.0}, "target_simulation_time": 12.000000000000677, "target_positions": {"joint1": -0.025534507229205725, "joint2": 1.6774293608319186, "joint3": 1.34057282866973, "joint4": -1.2597384717322127, "joint5": -0.014008654552619446, "joint6": 0.004088198469393412, "gripper": 0.008081160033033163}, "target_object": {"position_m": [0.24985218265315165, -0.003915517992688318, 0.10131823566907276], "quaternion_wxyz": [0.7157510117513285, 0.0039533712952694935, -0.006341424563420416, 0.6983155779207986], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.10173240314968085}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04743720429835005}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.09466649185814784}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04045416632798435}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08585509742414835}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.03173412708642584}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08702530873274272}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.032868008139332563}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0940781204143285}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.03984753453675759}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10291524289303734}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04858080495967548}], "left_finger_force_n": 0.4018794901447373, "right_finger_force_n": 0.4053150196758742, "bilateral_contact": true, "supported": false, "lift_m": 0.0011968666411903}, "target_sequence": 6000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 150, "source_target": [0.5410436391830444, -1.4242517948150635, 1.8018196821212769, 1.1078873872756958, -2.1103038787841797, 0.0], "source_tool_goal_m": [0.10671719876616666, -0.22947405000257057, 0.030251880681750457], "target_tool_goal_m": [0.2495302947646805, -0.003909337099072722, 0.10606640703128906], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.025670041141165743, "joint2": 1.6710884773598553, "joint3": 1.344947231531273, "joint4": -1.262208001691863, "joint5": -0.013979871252884316, "joint6": 0.004078301048067666, "gripper": 0.0}, "target_simulation_time": 12.080000000000704, "target_positions": {"joint1": -0.025724736883350238, "joint2": 1.6751958318077034, "joint3": 1.3410981288027213, "joint4": -1.260081614654815, "joint5": -0.013921028389405107, "joint6": 0.004064677003696436, "gripper": 0.008080071816430077}, "target_object": {"position_m": [0.2499098152626141, -0.003990058961484197, 0.10195262212312793], "quaternion_wxyz": [0.7158887198175806, 0.003023006452320392, -0.007096326339732798, 0.6981717871859445], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.09897116523877846}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.047050245248757644}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.09337289486549916}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04151414689684839}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08638810631504379}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.03459971294633303}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08745425962724336}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.03563384625730414}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.09304481615798282}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.04116808931911628}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10004610343189194}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04809161993569313}], "left_finger_force_n": 0.40189627151126045, "right_finger_force_n": 0.40543873472923164, "bilateral_contact": true, "supported": false, "lift_m": 0.0018312530952454692}, "target_sequence": 6040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 151, "source_target": [0.5438419580459595, -1.427697777748108, 1.7916280031204224, 1.113848328590393, -2.110724925994873, 0.0], "source_tool_goal_m": [0.10795182800166386, -0.23036277128147212, 0.03223146397669677], "target_tool_goal_m": [0.2491940394936084, -0.005366226510713707, 0.10804599032623535], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.029650574101488466, "joint2": 1.6648212072499815, "joint3": 1.346786686228341, "joint4": -1.2654547989499478, "joint5": -0.011397856678264635, "joint6": 0.003390406872775486, "gripper": 0.0}, "target_simulation_time": 12.16000000000073, "target_positions": {"joint1": -0.02627790274689773, "joint2": 1.6720314330799662, "joint3": 1.3418083974432227, "joint4": -1.2607995519797586, "joint5": -0.013655605895889234, "joint6": 0.003932894880800545, "gripper": 0.008080520798709818}, "target_object": {"position_m": [0.249927360112582, -0.004172277464580606, 0.10284220161333764], "quaternion_wxyz": [0.7160876086094707, 0.0017895742657436917, -0.008046124845481685, 0.6979617425725343], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.09659243647632078}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.046792636845015424}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.09224881818411117}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04249473019672804}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08682705939779403}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.03712585383365305}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08773301769910553}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.03799924870454355}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.09207295619136929}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.04229662773653142}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.09750569392654508}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.047671905608407075}], "left_finger_force_n": 0.4020815349336225, "right_finger_force_n": 0.40527944986650194, "bilateral_contact": true, "supported": false, "lift_m": 0.002720832585455177}, "target_sequence": 6080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 152, "source_target": [0.5423923134803772, -1.429486632347107, 1.784426212310791, 1.125200629234314, -2.110555648803711, 0.0], "source_tool_goal_m": [0.10759754415577524, -0.23037746745406507, 0.033433436149679294], "target_tool_goal_m": [0.24904605308940259, -0.0050506861268616995, 0.10924796249921787], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02886044023589475, "joint2": 1.6607082050452604, "joint3": 1.3476700245277566, "joint4": -1.266979226846628, "joint5": -0.012030458078312933, "joint6": 0.0034964556983299836, "gripper": 0.0}, "target_simulation_time": 12.240000000000757, "target_positions": {"joint1": -0.02678733286327633, "joint2": 1.6673344053662897, "joint3": 1.3428566068698522, "joint4": -1.2617072906478501, "joint5": -0.013404241795261113, "joint6": 0.003828656446089713, "gripper": 0.008079689957777404}, "target_object": {"position_m": [0.24998131899489293, -0.004353883222381161, 0.10416690243538917], "quaternion_wxyz": [0.7162843403811913, -3.9139153136405994e-05, -0.00959336855662057, 0.6977425810945947], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.09443681607957805}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04676239962966063}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0910472337390212}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04340671992448522}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08681493948833155}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.03921431504623874}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08777770700159}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.04014596924608487}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.09116561117610511}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.04350172209388697}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0954052090164839}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0476986397993289}], "left_finger_force_n": 0.4016824239073154, "right_finger_force_n": 0.40569485833347974, "bilateral_contact": true, "supported": false, "lift_m": 0.004045533407506713}, "target_sequence": 6120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 153, "source_target": [0.5430619120597839, -1.4309552907943726, 1.7775217294692993, 1.1345627307891846, -2.1107892990112305, 0.0], "source_tool_goal_m": [0.10774212551067765, -0.23033860065760672, 0.034561501661450805], "target_tool_goal_m": [0.24913623868413223, -0.005166962616226032, 0.11037602801098939], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.029206910901433396, "joint2": 1.6566352298583453, "joint3": 1.3485372338742558, "joint4": -1.267415142916963, "joint5": -0.01188149686379296, "joint6": 0.0034198987750980454, "gripper": 0.0}, "target_simulation_time": 12.320000000000784, "target_positions": {"joint1": -0.02688819114948022, "joint2": 1.6621393783242555, "joint3": 1.344247833760581, "joint4": -1.2625642059547912, "joint5": -0.013194383303338005, "joint6": 0.003736665209020076, "gripper": 0.008079919156373525}, "target_object": {"position_m": [0.25013116898572824, -0.004423034329631238, 0.10568203430408703], "quaternion_wxyz": [0.7163253326376441, -0.002173180850622892, -0.011480490955203895, 0.6976686129058609], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.09271273246287617}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04704713922082781}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.09005578595092271}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.044415533603467616}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08673745411180178}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.041127411409661925}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08751934709606576}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.041881443390474754}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.09017552905194641}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.04451333182483017}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.09349862288822752}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04780459123260346}], "left_finger_force_n": 0.402096056759558, "right_finger_force_n": 0.4053928654841481, "bilateral_contact": true, "supported": false, "lift_m": 0.0055606652762045655}, "target_sequence": 6160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 154, "source_target": [0.5438502430915833, -1.4327398538589478, 1.7698982954025269, 1.1434099674224854, -2.1103830337524414, 0.0], "source_tool_goal_m": [0.10802881963427645, -0.23048804076299084, 0.03585750945444012], "target_tool_goal_m": [0.2491097589870141, -0.005483628274994536, 0.11167203580397872], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02998595617873801, "joint2": 1.651914852104827, "joint3": 1.3494001152214372, "joint4": -1.268263430693726, "joint5": -0.011214034351414763, "joint6": 0.0032066141832500453, "gripper": 0.0}, "target_simulation_time": 12.40000000000081, "target_positions": {"joint1": -0.027175248365626417, "joint2": 1.6569851640649522, "joint3": 1.3455536707386555, "joint4": -1.2633961792465196, "joint5": -0.012949816439359725, "joint6": 0.003622440922664528, "gripper": 0.008080257519091695}, "target_object": {"position_m": [0.2502575710541486, -0.00454211876405036, 0.10717362468310604], "quaternion_wxyz": [0.7164123702731866, -0.00428589135533088, -0.013331200595720842, 0.6975365409392708], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.09114139407928484}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.047386761803117586}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08906789727828854}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04533213462753884}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08647774720801898}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.042764714167899155}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0871916756511927}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.043452264262161804}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08926499529477108}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.04550729767177832}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.09185837505373183}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04807696159684255}], "left_finger_force_n": 0.40217064916414796, "right_finger_force_n": 0.4053515695304783, "bilateral_contact": true, "supported": false, "lift_m": 0.007052255655223577}, "target_sequence": 6200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 155, "source_target": [0.5434287190437317, -1.4343891143798828, 1.7621413469314575, 1.1535269021987915, -2.1104443073272705, 0.0], "source_tool_goal_m": [0.10799358293854514, -0.2306042983103208, 0.03713580022390128], "target_tool_goal_m": [0.24899098825650615, -0.005495879640080044, 0.11295032657343987], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.029995221472476203, "joint2": 1.6471387750123418, "joint3": 1.3500705457116744, "joint4": -1.2692832892569625, "joint5": -0.011147500074273165, "joint6": 0.0031396717916175832, "gripper": 0.0}, "target_simulation_time": 12.480000000000837, "target_positions": {"joint1": -0.027511230158515546, "joint2": 1.6519973396003385, "joint3": 1.3464657973738219, "joint4": -1.2642525330196808, "joint5": -0.012705222973036272, "joint6": 0.003513886982816156, "gripper": 0.008080049788147617}, "target_object": {"position_m": [0.25026807105946836, -0.0046736744519396585, 0.10854826436428336], "quaternion_wxyz": [0.7165190804456505, -0.0061894503667037845, -0.01498246044399787, 0.697379110628158], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08970530859969143}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04779681217501971}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08809443803127444}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.046199942026749444}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08608188024002456}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04420438763747233}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0867907522243475}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.044887923934046545}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08840175709438515}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.04648523637951807}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.09041654972345521}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04848241598222876}], "left_finger_force_n": 0.4020827687102319, "right_finger_force_n": 0.4054646353379812, "bilateral_contact": true, "supported": false, "lift_m": 0.008426895336400897}, "target_sequence": 6240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 156, "source_target": [0.5434614419937134, -1.4362311363220215, 1.7565349340438843, 1.1624802350997925, -2.1106343269348145, 0.0], "source_tool_goal_m": [0.10792587761159374, -0.23047790305975194, 0.03816256001839445], "target_tool_goal_m": [0.24907981895813527, -0.005386467165809504, 0.11397708636793302], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.029678872489058362, "joint2": 1.6431904080755666, "joint3": 1.3506591150598861, "joint4": -1.2693779368639675, "joint5": -0.011328243482961062, "joint6": 0.003144676318147982, "gripper": 0.0}, "target_simulation_time": 12.560000000000864, "target_positions": {"joint1": -0.027616584537224157, "joint2": 1.6475041342107586, "joint3": 1.3471284185123458, "joint4": -1.2650193201298698, "joint5": -0.012508710934338049, "joint6": 0.0034284171148284753, "gripper": 0.008080028754374843}, "target_object": {"position_m": [0.2502291812365488, -0.004737224029057517, 0.10975472302449313], "quaternion_wxyz": [0.7165527295669482, -0.007836997358003433, -0.016425127274340198, 0.6972954771232834], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08846879294324521}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.048334204030287244}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08720958488762855}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04708546345012829}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08563619962268915}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04552487103266055}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0862675743196141}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.046132983307653676}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08752700164104653}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.047382122952511735}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08910191358253051}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04894388360194984}], "left_finger_force_n": 0.402259115966639, "right_finger_force_n": 0.40535547940530636, "bilateral_contact": true, "supported": false, "lift_m": 0.009633353996610666}, "target_sequence": 6280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 157, "source_target": [0.5434522032737732, -1.4378525018692017, 1.7476307153701782, 1.1732083559036255, -2.110666513442993, 0.0], "source_tool_goal_m": [0.10801852882270185, -0.23063497415785225, 0.03959657405691161], "target_tool_goal_m": [0.24897266545124935, -0.005530150937704659, 0.1154111004064502], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03001208277719573, "joint2": 1.6380227311636897, "joint3": 1.3515998827227156, "joint4": -1.2705770525283702, "joint5": -0.010983181874010138, "joint6": 0.003019568577664965, "gripper": 0.0}, "target_simulation_time": 12.64000000000089, "target_positions": {"joint1": -0.027701886277525272, "joint2": 1.6432503784008436, "joint3": 1.3476761259612866, "joint4": -1.2658329684911227, "joint5": -0.012308709823739486, "joint6": 0.0033382730673946924, "gripper": 0.008080062264950762}, "target_object": {"position_m": [0.25014561610828373, -0.004793777104326328, 0.1108784986759052], "quaternion_wxyz": [0.7165740157420978, -0.00933373948028581, -0.017723657776229383, 0.6972233739810992], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08731707489372909}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04886520540680257}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08635130368560971}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04790711578589462}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08514445468378229}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04670970394385481}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08574333995842207}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.04728608486918318}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08670938664900103}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.048244535102153596}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08791731200041521}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04944279993866242}], "left_finger_force_n": 0.4022948583996731, "right_finger_force_n": 0.4053434585178375, "bilateral_contact": true, "supported": false, "lift_m": 0.010757129648022737}, "target_sequence": 6320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 158, "source_target": [0.5451861023902893, -1.4402055740356445, 1.7404308319091797, 1.1820060014724731, -2.1120765209198, 0.0], "source_tool_goal_m": [0.10844348338744413, -0.23061261304229735, 0.040948920901795166], "target_tool_goal_m": [0.24915446184773518, -0.005906834487241734, 0.11676344725133375], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.030943413968326974, "joint2": 1.633435822303035, "joint3": 1.3529563650933505, "joint4": -1.270996459884153, "joint5": -0.010224487560435966, "joint6": 0.0027814864033649618, "gripper": 0.0}, "target_simulation_time": 12.720000000000917, "target_positions": {"joint1": -0.028049796546308417, "joint2": 1.6389157760501758, "joint3": 1.348539043751834, "joint4": -1.2666222397011304, "joint5": -0.01205533702743764, "joint6": 0.003219210459509247, "gripper": 0.008080341613358263}, "target_object": {"position_m": [0.2501362870049046, -0.004925418713072701, 0.11208370042673269], "quaternion_wxyz": [0.7166644829144071, -0.01099299200972405, -0.019143963772986036, 0.6970686348608427], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08628680947152294}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.049437843455167926}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08554471674972934}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04870140755883776}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08461731512048631}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04778098336792464}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08517690092441721}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.04831935393514722}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08591925354859979}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.049056092026471446}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08684740969145677}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0499771363441821}], "left_finger_force_n": 0.4023690757236689, "right_finger_force_n": 0.4052961464702745, "bilateral_contact": true, "supported": false, "lift_m": 0.011962331398850223}, "target_sequence": 6360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 159, "source_target": [0.5429933071136475, -1.4416366815567017, 1.7307990789413452, 1.1941580772399902, -2.111931324005127, 0.0], "source_tool_goal_m": [0.1080672812860481, -0.23090130024380537, 0.04244203711998311], "target_tool_goal_m": [0.24874979590177485, -0.005675572982874131, 0.11825656346952168], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.030339216836195584, "joint2": 1.6279568824503585, "joint3": 1.3536457839182856, "joint4": -1.2731033809949843, "joint5": -0.010606246082045408, "joint6": 0.002830272555575515, "gripper": 0.0}, "target_simulation_time": 12.800000000000944, "target_positions": {"joint1": -0.028251853508992956, "joint2": 1.63404853127556, "joint3": 1.3494391227119178, "joint4": -1.2676636054553483, "joint5": -0.011839951856187686, "joint6": 0.003127856153678763, "gripper": 0.008079923245144033}, "target_object": {"position_m": [0.25007192813171447, -0.005017686945940583, 0.11342851327055653], "quaternion_wxyz": [0.7167122757919911, -0.012756864080193737, -0.020693657503011213, 0.6969451547195468], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08531698499490163}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05003270135295094}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0847504611697843}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04947031941297966}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.084042430821802}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04876741390368228}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08459147504633051}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.04929657356779134}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0851582222915825}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.049859199614905675}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08586678134688686}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.050562554619764735}], "left_finger_force_n": 0.40238031165610083, "right_finger_force_n": 0.4053348064872616, "bilateral_contact": true, "supported": false, "lift_m": 0.013307144242674068}, "target_sequence": 6400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 160, "source_target": [0.5442088842391968, -1.443981409072876, 1.7213687896728516, 1.2055140733718872, -2.111191511154175, 0.0], "source_tool_goal_m": [0.10839394551747136, -0.23093966145095512, 0.04408800929245146], "target_tool_goal_m": [0.24883919215610775, -0.005986246128548818, 0.11990253564199005], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.031131183723119467, "joint2": 1.6224729072774735, "joint3": 1.3552979317228355, "joint4": -1.2740886148328756, "joint5": -0.010002740618572845, "joint6": 0.002636044478602317, "gripper": 0.0}, "target_simulation_time": 12.88000000000097, "target_positions": {"joint1": -0.02844877266237367, "joint2": 1.628635670604646, "joint3": 1.3506236521776853, "joint4": -1.2689844372519534, "joint5": -0.011608694912623473, "joint6": 0.003021692769803188, "gripper": 0.008080120810074249}, "target_object": {"position_m": [0.24999078774441, -0.00510677228411517, 0.114968941902689], "quaternion_wxyz": [0.7167359039530564, -0.014713669328690355, -0.0224233975354881, 0.69682877607232], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0844332792749335}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05062067245421013}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08401171973254568}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05020207125690496}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08348483902128412}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04967886042782004}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08400605986428632}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05018076593962981}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0844278108192279}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0505995631952823}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0849550685859396}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.051123100768985665}], "left_finger_force_n": 0.40243144216769844, "right_finger_force_n": 0.4052923691733516, "bilateral_contact": true, "supported": false, "lift_m": 0.014847572874806536}, "target_sequence": 6440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 161, "source_target": [0.5428000092506409, -1.4467263221740723, 1.7133797407150269, 1.2149219512939453, -2.111288547515869, 0.0], "source_tool_goal_m": [0.1082554445468027, -0.2312961899688214, 0.04562769607284407], "target_tool_goal_m": [0.24846338592683684, -0.00599622629202892, 0.12144222242238267], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.031134563467283632, "joint2": 1.6168025266248451, "joint3": 1.3560773334527452, "joint4": -1.276039735389632, "joint5": -0.009896375142154242, "joint6": 0.002562808751394374, "gripper": 0.0}, "target_simulation_time": 12.960000000000997, "target_positions": {"joint1": -0.028656934585137777, "joint2": 1.6227773485590233, "joint3": 1.3519266948188207, "joint4": -1.2707293667084874, "joint5": -0.01137762830836736, "joint6": 0.0029189278376780996, "gripper": 0.008080015199163492}, "target_object": {"position_m": [0.24982815480958914, -0.005198367713893196, 0.11665497356887902], "quaternion_wxyz": [0.7167585337810854, -0.016732112206250694, -0.024213037951798265, 0.6967000570304631], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08359488787891733}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05120616952778455}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08328469086692866}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05089806719682744}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08289698189511095}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05051296186680659}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08342377255393943}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.051021235667583535}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08373412225633711}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05132948933588703}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08412209687749841}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0517148291945094}], "left_finger_force_n": 0.4023937592323755, "right_finger_force_n": 0.40534554588575494, "bilateral_contact": true, "supported": false, "lift_m": 0.01653360454099656}, "target_sequence": 6480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 162, "source_target": [0.5429960489273071, -1.4478532075881958, 1.7039601802825928, 1.2266050577163696, -2.110602378845215, 0.0], "source_tool_goal_m": [0.10830274446997522, -0.2312956299311669, 0.04705048463822882], "target_tool_goal_m": [0.24848187256568874, -0.006038886551495837, 0.12286501098776742], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03119945410845719, "joint2": 1.6118794038914177, "joint3": 1.3573444877802145, "joint4": -1.2768726833572224, "joint5": -0.009753749806259725, "joint6": 0.0024841968942849236, "gripper": 0.0}, "target_simulation_time": 13.040000000001024, "target_positions": {"joint1": -0.02876323398951796, "joint2": 1.6169541323172394, "joint3": 1.3531894756802139, "joint4": -1.2719044554805152, "joint5": -0.011159265145857373, "joint6": 0.0028218763118694925, "gripper": 0.00808003370934577}, "target_object": {"position_m": [0.2497737707705057, -0.005264749451656663, 0.11830671712189135], "quaternion_wxyz": [0.7167340142136057, -0.01891548668053923, -0.026174703399385997, 0.6965984798539567], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08284397990659811}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.051817745239123095}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08261710327981178}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05159234362770384}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08233352749557048}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05131060399564897}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08281873573942414}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.051778478566992955}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08304572651750317}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.052003992435753224}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08332948508260027}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05228589724206065}], "left_finger_force_n": 0.4025153035444563, "right_finger_force_n": 0.4052623155843344, "bilateral_contact": true, "supported": false, "lift_m": 0.018185348094008888}, "target_sequence": 6520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 163, "source_target": [0.5432966947555542, -1.4506556987762451, 1.694995403289795, 1.2373948097229004, -2.1120734214782715, 0.0], "source_tool_goal_m": [0.10845062027335328, -0.23140943580816625, 0.04873038189556189], "target_tool_goal_m": [0.24843492633150036, -0.006216181059963179, 0.12454490824510048], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.031606469819084534, "joint2": 1.6060130726879593, "joint3": 1.3587319638724642, "joint4": -1.2779766430279456, "joint5": -0.009333565117436975, "joint6": 0.002333746746364303, "gripper": 0.0}, "target_simulation_time": 13.12000000000105, "target_positions": {"joint1": -0.028952952115553758, "joint2": 1.6114093036925212, "joint3": 1.354575560752463, "joint4": -1.2728384529886863, "joint5": -0.01092646898917795, "joint6": 0.0027153813456007505, "gripper": 0.008080162530748673}, "target_object": {"position_m": [0.24980550225589604, -0.005355797179488043, 0.1199117215942887], "quaternion_wxyz": [0.7167244538613222, -0.021138522688420307, -0.02816414268566293, 0.6964667983202947], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08212741585338194}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.052399610967383256}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08196748378649824}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05224068402333276}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08176757874735979}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.052042031692492816}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08223896313921254}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.052496788929786556}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08239897941789244}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05265579742144106}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08259900985892829}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05285456443094203}], "left_finger_force_n": 0.4025448050704488, "right_finger_force_n": 0.4052441031982029, "bilateral_contact": true, "supported": false, "lift_m": 0.01979035256640624}, "target_sequence": 6560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 164, "source_target": [0.5443349480628967, -1.4519709348678589, 1.686369776725769, 1.2480888366699219, -2.111189603805542, 0.0], "source_tool_goal_m": [0.1086497617198858, -0.2313099498317182, 0.05009133870215933], "target_tool_goal_m": [0.2486007964234157, -0.00635886962067998, 0.12590586505169793], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03192141204759787, "joint2": 1.6012985089837761, "joint3": 1.3600211654081475, "joint4": -1.2781504511108193, "joint5": -0.009012144051691373, "joint6": 0.0022042829188110152, "gripper": 0.0}, "target_simulation_time": 13.200000000001078, "target_positions": {"joint1": -0.02926766235059507, "joint2": 1.606163709887877, "joint3": 1.3559988554927918, "joint4": -1.273660015834677, "joint5": -0.010679597350735297, "joint6": 0.002603187922122218, "gripper": 0.008080174511733478}, "target_object": {"position_m": [0.24986595707431225, -0.005481996348493807, 0.12145549027375546], "quaternion_wxyz": [0.7167513999001872, -0.02331617214575127, -0.030096262171466687, 0.696288734549755], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08144792212302829}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.052967594534572886}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0813388401147153}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05285917945688331}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08120249238712808}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05272366369367101}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08167291626205359}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05317816401217927}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08178205759698955}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05328663598974589}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08191848907177965}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05342222906776346}], "left_finger_force_n": 0.40253969230999886, "right_finger_force_n": 0.4052604920005114, "bilateral_contact": true, "supported": false, "lift_m": 0.021334121245873}, "target_sequence": 6600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 165, "source_target": [0.5440476536750793, -1.4540683031082153, 1.6780833005905151, 1.2587110996246338, -2.111593723297119, 0.0], "source_tool_goal_m": [0.10859736866571695, -0.23134134039320275, 0.05155099310311284], "target_tool_goal_m": [0.24855242874992745, -0.006323311782163739, 0.12736551945265143], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03180779754366808, "joint2": 1.5961840907923395, "joint3": 1.3612060164393645, "joint4": -1.2790483532251227, "joint5": -0.009047484343102565, "joint6": 0.002167079727579738, "gripper": 0.0}, "target_simulation_time": 13.280000000001104, "target_positions": {"joint1": -0.029455857843043002, "joint2": 1.601200219306854, "joint3": 1.3572707423771, "joint4": -1.274468207765375, "joint5": -0.010452495287131653, "joint6": 0.0025044688818453243, "gripper": 0.008079944327448532}, "target_object": {"position_m": [0.24989081944646452, -0.005574127392009013, 0.12290114954176412], "quaternion_wxyz": [0.7167412117343849, -0.025336269875535333, -0.03189089794226975, 0.6961487480838819], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08080950522146721}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05353182639823318}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08074445790012759}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05346717132727023}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08066315053748908}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05338635366440194}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08111374709514829}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05382179880620089}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.08117883055266949}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05388648835320376}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08126018667207514}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05396735147082986}], "left_finger_force_n": 0.4026024650489892, "right_finger_force_n": 0.4052284029501274, "bilateral_contact": true, "supported": false, "lift_m": 0.02277978051388166}, "target_sequence": 6640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 166, "source_target": [0.5454325675964355, -1.4567383527755737, 1.6692191362380981, 1.2692376375198364, -2.1104228496551514, 0.00820312462747097], "source_tool_goal_m": [0.10892802559193449, -0.2313156629842119, 0.053203688896713536], "target_tool_goal_m": [0.24870138790985438, -0.006613262443792295, 0.12901821524625212], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03252703828768465, "joint2": 1.5908381620897551, "joint3": 1.3630534109410122, "joint4": -1.2797160356804933, "joint5": -0.008469150998380267, "joint6": 0.0019753130964000054, "gripper": 0.0004397343550303153}, "target_simulation_time": 13.360000000001131, "target_positions": {"joint1": -0.02974421414734918, "joint2": 1.5963114038603363, "joint3": 1.3586298033391995, "joint4": -1.2752777381940101, "joint5": -0.010206141050044549, "joint6": 0.002390414168612674, "gripper": 0.008084542159993104}, "target_object": {"position_m": [0.24992510306296545, -0.005688902878320315, 0.12434629556838989], "quaternion_wxyz": [0.7167497341587317, -0.02736050704326328, -0.03367477041663753, 0.6959793323620397], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0768518623335675}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.050730894713252206}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07681465631367564}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0506939039256124}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07676814940318931}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05064766584428534}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07719299634282119}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05105820687894531}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0772302231541446}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.051095217468977445}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07727675728552937}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.051141481112445965}], "left_finger_force_n": 0.3825071325335824, "right_finger_force_n": 0.3849948822428639, "bilateral_contact": true, "supported": false, "lift_m": 0.024224926540507424}, "target_sequence": 6680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 167, "source_target": [0.5443569421768188, -1.4588061571121216, 1.6607797145843506, 1.2796446084976196, -2.1112148761749268, 0.0], "source_tool_goal_m": [0.10874254912085256, -0.23145399199883754, 0.0546867078801343], "target_tool_goal_m": [0.2485055042393224, -0.0064977244532397355, 0.13050123422967289], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03220189624706702, "joint2": 1.585626549082432, "joint3": 1.3641667560575668, "joint4": -1.2810687136482735, "joint5": -0.008629585601045382, "joint6": 0.001969091374227719, "gripper": 0.0}, "target_simulation_time": 13.440000000001158, "target_positions": {"joint1": -0.029932608764143828, "joint2": 1.5912099839824339, "joint3": 1.3599577610079037, "joint4": -1.276146902506284, "joint5": -0.009983019501844374, "joint6": 0.0022941290878373643, "gripper": 0.008081298372002606}, "target_object": {"position_m": [0.249927662756161, -0.005781567226640376, 0.12583673586525249], "quaternion_wxyz": [0.7167255771637443, -0.029423174085039052, -0.03551252079200134, 0.6958287035851973], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07942263903092518}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.054390353531971525}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07941127571149943}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.054379073705616766}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07939707165592676}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.054364973986338966}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07982053254802067}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.054774785783631645}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07983190251289092}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.054786071867962055}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07984611506310389}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05480017953742513}], "left_finger_force_n": 0.40136538762227864, "right_finger_force_n": 0.4038595873130343, "bilateral_contact": true, "supported": false, "lift_m": 0.025715366837370024}, "target_sequence": 6720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 168, "source_target": [0.5443261861801147, -1.4612547159194946, 1.6514681577682495, 1.291232943534851, -2.1117405891418457, 0.0], "source_tool_goal_m": [0.10874132407451066, -0.23146269295369842, 0.056355062644836806], "target_tool_goal_m": [0.24849715195671, -0.006499921349463698, 0.1321695889943754], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.032160176528892984, "joint2": 1.580078440350707, "joint3": 1.3658132891884998, "joint4": -1.282094822294934, "joint5": -0.008560811460919597, "joint6": 0.0019138037627958893, "gripper": 0.0}, "target_simulation_time": 13.520000000001184, "target_positions": {"joint1": -0.030013849299504822, "joint2": 1.5858647429152517, "joint3": 1.3613369279729572, "joint4": -1.2770740775446192, "joint5": -0.00979217754542964, "joint6": 0.0022088204928322583, "gripper": 0.008080415858987916}, "target_object": {"position_m": [0.2499111700908792, -0.0058379940486799516, 0.12739546935084234], "quaternion_wxyz": [0.7166543646058023, -0.03155278207454876, -0.037442023791255684, 0.6957075811641148], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0790816789045175}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.055103462970138795}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0790840580886994}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.055105854422299684}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07908703206953165}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05510884373791947}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07949449773781392}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.055503244393107956}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07949211757942228}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05550085190219382}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0794891423820393}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.055497861288964286}], "left_finger_force_n": 0.4025709301931065, "right_finger_force_n": 0.40497771528354154, "bilateral_contact": true, "supported": false, "lift_m": 0.027274100322959877}, "target_sequence": 6760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 169, "source_target": [0.5441817045211792, -1.4634792804718018, 1.6427958011627197, 1.3019269704818726, -2.111191987991333, 0.0], "source_tool_goal_m": [0.10871586723070048, -0.2314829961655757, 0.057901957774904506], "target_tool_goal_m": [0.24846907260264436, -0.006484564391914646, 0.1337164841244431], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03205184448886669, "joint2": 1.5747909456874682, "joint3": 1.3672136822071836, "joint4": -1.2829383127679679, "joint5": -0.00849441432900133, "joint6": 0.0018616644390695887, "gripper": 0.0}, "target_simulation_time": 13.600000000001211, "target_positions": {"joint1": -0.03008817302553864, "joint2": 1.5803689615170555, "joint3": 1.3628490995261175, "joint4": -1.277990354634893, "joint5": -0.009618196996298454, "joint6": 0.0021308691115255072, "gripper": 0.008080198001741763}, "target_object": {"position_m": [0.2499153675437361, -0.005889687460186984, 0.12902083370467549], "quaternion_wxyz": [0.7165700221314248, -0.03378354516241909, -0.039481565775519034, 0.6955769414110424], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07859139803506378}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.055624278915765206}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07860621204595918}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05563904589094246}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07862472959380858}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05565750463399571}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0790227342154748}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05604299039610655}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0790079122541907}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05602821570023294}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07898938483694144}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05600974735459198}], "left_finger_force_n": 0.40274316911553487, "right_finger_force_n": 0.4051009847575384, "bilateral_contact": true, "supported": false, "lift_m": 0.028899464676793024}, "target_sequence": 6800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 170, "source_target": [0.5455912947654724, -1.46567702293396, 1.6341816186904907, 1.3125492334365845, -2.1114375591278076, 0.00820312462747097], "source_tool_goal_m": [0.10897116335918171, -0.231316774107625, 0.059437733006393975], "target_tool_goal_m": [0.2487167777281293, -0.006652785302037948, 0.13525225935593255], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03242171015565373, "joint2": 1.5698547715219178, "joint3": 1.3690140581689083, "joint4": -1.2830197461270052, "joint5": -0.008121712967833213, "joint6": 0.0017314180763793555, "gripper": 0.0004397343550303153}, "target_simulation_time": 13.680000000001238, "target_positions": {"joint1": -0.030171088749309197, "joint2": 1.5750422088771734, "joint3": 1.364605266506628, "joint4": -1.2787917061560354, "joint5": -0.009424188432103808, "joint6": 0.0020436778186158754, "gripper": 0.008084415325596107}, "target_object": {"position_m": [0.24999632727780333, -0.005946714345938703, 0.1306624354526454], "quaternion_wxyz": [0.716473739806865, -0.036089057753410876, -0.04157901198347181, 0.69543809633936], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07472752381983733}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.052735100186041634}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07476412981259425}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.052771569194886125}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07480988764654962}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.052817155696956976}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07519623849402231}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05319151425844948}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07515961209851207}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0531550256504901}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07511382944870595}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05310941513307162}], "left_finger_force_n": 0.38262536635686595, "right_finger_force_n": 0.38492563508325156, "bilateral_contact": true, "supported": false, "lift_m": 0.030541066424762925}, "target_sequence": 6840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 171, "source_target": [0.5440635681152344, -1.4681259393692017, 1.6256451606750488, 1.3231136798858643, -2.1098439693450928, 0.01640624925494194], "source_tool_goal_m": [0.10867669998287854, -0.23147284003342514, 0.0610114219760691], "target_tool_goal_m": [0.24846339049348648, -0.006445202385126958, 0.13682594832560768], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03181160258503026, "joint2": 1.5643462679474303, "joint3": 1.3702198207048084, "joint4": -1.284492722870315, "joint5": -0.008386163085336257, "joint6": 0.0017657312641652914, "gripper": 0.0008794687100606306}, "target_simulation_time": 13.760000000001265, "target_positions": {"joint1": -0.030233251707261776, "joint2": 1.5697237168192302, "joint3": 1.3661586055514432, "joint4": -1.2796462832332647, "joint5": -0.009278146254320026, "joint6": 0.0019785915495896603, "gripper": 0.008090140137724498}, "target_object": {"position_m": [0.2500114672711912, -0.005986886878599655, 0.13225942235850802], "quaternion_wxyz": [0.7163756673721388, -0.03828770426980024, -0.043607251909775234, 0.6952973194826434], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07068339476017904}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04964411222712186}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07071193522905807}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04967255974839122}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07074761099749977}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.049708119277567735}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07112697551803025}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05007624634905825}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07109841961645719}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05004778387832338}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07106272492258302}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05001220591823309}], "left_finger_force_n": 0.3611677322398177, "right_finger_force_n": 0.3634243562026852, "bilateral_contact": true, "supported": false, "lift_m": 0.032138053330625554}, "target_sequence": 6880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 172, "source_target": [0.5440251231193542, -1.4702277183532715, 1.617019534111023, 1.3338077068328857, -2.1109862327575684, 0.0], "source_tool_goal_m": [0.10863838697187082, -0.23142099097707042, 0.06253285842294513], "target_tool_goal_m": [0.24849582397777928, -0.006390766909865667, 0.1383473847724837], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03160900613070963, "joint2": 1.5592802813192665, "joint3": 1.3717449278758531, "joint4": -1.2851096163897173, "joint5": -0.008414412208313928, "joint6": 0.0017470716069687422, "gripper": 0.0}, "target_simulation_time": 13.840000000001291, "target_positions": {"joint1": -0.03028390313263245, "joint2": 1.5644592733438059, "joint3": 1.367548052992685, "joint4": -1.2805021249935478, "joint5": -0.009159906423779186, "joint6": 0.0019255474831896416, "gripper": 0.008083390364233941}, "target_object": {"position_m": [0.24997446072483484, -0.0060243252245156375, 0.13380665637189734], "quaternion_wxyz": [0.7162745845538004, -0.04039411352278615, -0.04556590066976903, 0.6951566613441481], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07668779740082023}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05650760172834775}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07671939568070762}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.056539090357558414}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07675889377914673}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05657845132580295}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07713667278081411}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.056945272394709597}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07710505707793626}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05691376692080084}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07706553769895572}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.056874385261141754}], "left_finger_force_n": 0.39979123027238367, "right_finger_force_n": 0.4020406921343583, "bilateral_contact": true, "supported": false, "lift_m": 0.03368528734401488}, "target_sequence": 6920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 173, "source_target": [0.5442584156990051, -1.4708046913146973, 1.608405351638794, 1.3444299697875977, -2.1116549968719482, 0.004101562313735485], "source_tool_goal_m": [0.1086037339736999, -0.2312639568296488, 0.06377293237607765], "target_tool_goal_m": [0.24862498949820017, -0.006299667355786897, 0.13958745872561623], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03130874027464854, "joint2": 1.5550441030907842, "joint3": 1.3729404150386875, "joint4": -1.2850984686938203, "joint5": -0.008525198315886596, "joint6": 0.001755204964256934, "gripper": 0.00021986717751515766}, "target_simulation_time": 13.920000000001318, "target_positions": {"joint1": -0.030322402290126636, "joint2": 1.5596159923983268, "joint3": 1.368947411920297, "joint4": -1.2812335080867576, "joint5": -0.009069715259497176, "joint6": 0.0018852730622998706, "gripper": 0.008083167468421847}, "target_object": {"position_m": [0.2499727096080559, -0.006051622906700247, 0.1352599933817672], "quaternion_wxyz": [0.7161735627395245, -0.0423898481506699, -0.04743727817620785, 0.6950167145083447], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07501838469754162}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05569709301758966}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07505292361320329}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.055731516302450504}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07509609756110013}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.055774545632653404}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0754664904205396}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.056134460012004256}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07543193243037132}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05610001827370166}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0753887352472729}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05605696632618799}], "left_finger_force_n": 0.3923705608245386, "right_finger_force_n": 0.3945786027100777, "bilateral_contact": true, "supported": false, "lift_m": 0.035138624353884734}, "target_sequence": 6960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 174, "source_target": [0.5456079244613647, -1.4736913442611694, 1.599868893623352, 1.3549565076828003, -2.1108200550079346, 0.0013671874767169356], "source_tool_goal_m": [0.10883595410121581, -0.23108961636750724, 0.06543125287981147], "target_tool_goal_m": [0.24887128188691154, -0.006443886083568005, 0.14124577922935005], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03164617285009051, "joint2": 1.5499988504575333, "joint3": 1.3750879483297582, "joint4": -1.285346961026484, "joint5": -0.008238783850352939, "joint6": 0.0016630571808541937, "gripper": 7.32890612518947e-05}, "target_simulation_time": 14.000000000001345, "target_positions": {"joint1": -0.03036884941816317, "joint2": 1.5551587225467596, "joint3": 1.3705722647051848, "joint4": -1.2818906756636348, "joint5": -0.008961616438451933, "joint6": 0.001836517220918677, "gripper": 0.008081708608931138}, "target_object": {"position_m": [0.2500430565120223, -0.006086463738962667, 0.13667244354782362], "quaternion_wxyz": [0.7160683037448672, -0.044354125286367424, -0.04926515983530209, 0.694875413270921], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0756743815338511}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05715418641243256}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0757257643199195}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05720539366817403}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07578999354890838}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05726940329866538}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07615578994651423}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05762503983957119}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07610437804162146}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05757380453464844}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07604011391037337}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.057509760967652465}], "left_finger_force_n": 0.398819122781951, "right_finger_force_n": 0.40100888724038114, "bilateral_contact": true, "supported": false, "lift_m": 0.03655107451994116}, "target_sequence": 7000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 175, "source_target": [0.5441130995750427, -1.4754681587219238, 1.5914294719696045, 1.3653634786605835, -2.113131284713745, 0.0054687499068677425], "source_tool_goal_m": [0.10850130934056283, -0.23114927234573576, 0.06687157765972714], "target_tool_goal_m": [0.24869000840240074, -0.006163236287954009, 0.14268610400926574], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.03086564089968278, "joint2": 1.5451905144426257, "joint3": 1.3764267983422251, "joint4": -1.2866065184037656, "joint5": -0.008680449129492578, "joint6": 0.001760030180358384, "gripper": 0.0002931562450075788}, "target_simulation_time": 14.080000000001371, "target_positions": {"joint1": -0.030390328442992044, "joint2": 1.550574846127879, "joint3": 1.3721365101181495, "joint4": -1.2826031937270699, "joint5": -0.008911392252552866, "joint6": 0.0018144784847358693, "gripper": 0.008083513580830317}, "target_object": {"position_m": [0.2500782641403496, -0.006101845410562651, 0.13810284121072391], "quaternion_wxyz": [0.7159569705870363, -0.04630466881210318, -0.051121831293963166, 0.6947287616611146], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0736699824398347}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05595195658176919}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07370730312459134}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0559891619922262}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07375395433819953}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.056035669025835955}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07411657615668141}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05638875516277882}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07407923498995476}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05635152986456612}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07403255889066564}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05630499851374051}], "left_finger_force_n": 0.38910802750245693, "right_finger_force_n": 0.3912736535783873, "bilateral_contact": true, "supported": false, "lift_m": 0.03798147218284145}, "target_sequence": 7040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 176, "source_target": [0.543478786945343, -1.4776358604431152, 1.5825427770614624, 1.3767943382263184, -2.1103694438934326, 0.0], "source_tool_goal_m": [0.10828670497949322, -0.23106912325615053, 0.06843997929229237], "target_tool_goal_m": [0.24868108381265358, -0.005938251501680087, 0.14425450564183095], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.030243066554927818, "joint2": 1.5402306427927073, "joint3": 1.378196089846874, "joint4": -1.2875013027220343, "joint5": -0.009060390894655258, "joint6": 0.0018521008076192052, "gripper": 0.0}, "target_simulation_time": 14.160000000001398, "target_positions": {"joint1": -0.030387724696468242, "joint2": 1.5457751476439452, "joint3": 1.3736746557615798, "joint4": -1.2833700733492486, "joint5": -0.0089187825798786, "joint6": 0.0018180225840859203, "gripper": 0.008081167210015673}, "target_object": {"position_m": [0.250075344968569, -0.006101410793652882, 0.13957722960423993], "quaternion_wxyz": [0.7158352953844247, -0.04827834889213209, -0.053042873746293594, 0.6945757586144768], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07544823748996696}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05848038154170959}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0754790199304909}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05851107315325347}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07551749821435498}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05854943784752886}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07588131116499162}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05890399911351686}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07585051172448487}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05887329098738438}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07581201265807416}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05883490601054578}], "left_finger_force_n": 0.40198564817730476, "right_finger_force_n": 0.40415603165899766, "bilateral_contact": true, "supported": false, "lift_m": 0.03945586057635747}, "target_sequence": 7080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 177, "source_target": [0.5434908866882324, -1.4796903133392334, 1.5746525526046753, 1.3867534399032593, -2.110968828201294, 0.0], "source_tool_goal_m": [0.10821407574834481, -0.2309415032375959, 0.06985818613935482], "target_tool_goal_m": [0.24876915304780142, -0.0058239104079038295, 0.1456727124888934], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02993052793543363, "joint2": 1.5357297808630215, "joint3": 1.3798183794621894, "joint4": -1.287882588186391, "joint5": -0.009273590097656112, "joint6": 0.0019103958258141474, "gripper": 0.0}, "target_simulation_time": 14.240000000001425, "target_positions": {"joint1": -0.030372553293952664, "joint2": 1.5409488411704544, "joint3": 1.3753674111428575, "joint4": -1.2840911982044112, "joint5": -0.008956244422752233, "joint6": 0.001834746042430943, "gripper": 0.008080392342583217}, "target_object": {"position_m": [0.25010769701488944, -0.006092417500266349, 0.14109636426354674], "quaternion_wxyz": [0.7157000846507452, -0.05032288570905541, -0.0550546974122476, 0.694413404462842], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07521524168090665}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0589670833162875}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07525016286443216}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05900190348424415}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07529381465589571}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.059045428937769505}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07565730915602745}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0593999630598435}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07562236838856033}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05936512390234004}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07557869274276562}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05932157520048062}], "left_finger_force_n": 0.40277363493953566, "right_finger_force_n": 0.40494503245001756, "bilateral_contact": true, "supported": false, "lift_m": 0.04097499523566428}, "target_sequence": 7120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 178, "source_target": [0.5442368984222412, -1.4813659191131592, 1.567979335784912, 1.396533727645874, -2.1099822521209717, 0.0], "source_tool_goal_m": [0.10817604740859786, -0.23057290202696082, 0.07103155905667885], "target_tool_goal_m": [0.24908880212557563, -0.005649333363620234, 0.14684608540621744], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02944633132822943, "joint2": 1.5321910215645345, "joint3": 1.3813950227733085, "joint4": -1.2874062221726976, "joint5": -0.009619706003589886, "joint6": 0.002009452597384518, "gripper": 0.0}, "target_simulation_time": 14.320000000001452, "target_positions": {"joint1": -0.030341126596659926, "joint2": 1.5365628361963566, "joint3": 1.3772052594413333, "joint4": -1.2846379990593602, "joint5": -0.009031727162751536, "joint6": 0.0018685928723431058, "gripper": 0.008080204393834755}, "target_object": {"position_m": [0.2502217621762423, -0.0060743453794508155, 0.14255166664711547], "quaternion_wxyz": [0.7155607990814414, -0.052313425175878864, -0.0570423444395729, 0.6942493927293953], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.074884437042294}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05933043571031202}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07491876024130317}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0593646641643124}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07496166453801537}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05940744996689747}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07532684171229558}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05976402929508279}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07529249924459855}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05972978213793014}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07524957145939443}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.059686973428002214}], "left_finger_force_n": 0.40286741166313444, "right_finger_force_n": 0.40504969727730367, "bilateral_contact": true, "supported": false, "lift_m": 0.042430297619233004}, "target_sequence": 7160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 179, "source_target": [0.5431180596351624, -1.4828170537948608, 1.558459997177124, 1.406542420387268, -2.10947847366333, 0.0], "source_tool_goal_m": [0.10799404954228572, -0.2307380199496092, 0.07257717483458055], "target_tool_goal_m": [0.2488699589559623, -0.005547131057855169, 0.14839170118411915], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.029216686209033532, "joint2": 1.5271739760064837, "joint3": 1.3829585631082848, "joint4": -1.2888218659125348, "joint5": -0.009827405662345558, "joint6": 0.002078047366004131, "gripper": 0.0}, "target_simulation_time": 14.400000000001478, "target_positions": {"joint1": -0.030301413933401525, "joint2": 1.5323313450159426, "joint3": 1.3787746899315632, "joint4": -1.2852633999657674, "joint5": -0.00912706098793041, "joint6": 0.0019109777438785737, "gripper": 0.008080125402482619}, "target_object": {"position_m": [0.2502592536241046, -0.006047908730128249, 0.14390735007902733], "quaternion_wxyz": [0.7154293076436257, -0.054117248786019756, -0.05886380424748951, 0.6940945769114666], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07454778968486292}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05965302746564006}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0745885313831539}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.059693659093592165}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07463945894305712}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05974444897685859}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07500844244094053}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06010512162411012}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07496767752892722}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06006446749828472}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07491672182827742}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0600136501915857}], "left_finger_force_n": 0.40286691554716475, "right_finger_force_n": 0.40507608111212573, "bilateral_contact": true, "supported": false, "lift_m": 0.04378598105114487}, "target_sequence": 7200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 180, "source_target": [0.5431442260742188, -1.4840946197509766, 1.5530368089675903, 1.4147430658340454, -2.1102840900421143, 0.0], "source_tool_goal_m": [0.10782511934031638, -0.2304441362729751, 0.07351232894535206], "target_tool_goal_m": [0.2490721266303454, -0.005282303859587938, 0.14932685529489065], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02851951137592719, "joint2": 1.524258255900326, "joint3": 1.384105636410908, "joint4": -1.2885037879048178, "joint5": -0.01035558045498585, "joint6": 0.0022356303840213383, "gripper": 0.0}, "target_simulation_time": 14.480000000001505, "target_positions": {"joint1": -0.030239920379583955, "joint2": 1.528398590988533, "joint3": 1.3801413652250512, "joint4": -1.2857926731266085, "joint5": -0.00927295819907757, "joint6": 0.00197637405946459, "gripper": 0.008080134515261777}, "target_object": {"position_m": [0.2502752462897307, -0.006006042302182921, 0.145148844523499], "quaternion_wxyz": [0.71530423628402, -0.05575787775247648, -0.06056458986515723, 0.6939472883995879], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07423117697928801}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05997828557883212}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0742662062027118}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.060013226314387255}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07430999303878193}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06005690248075396}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07468417124034352}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06042314249553869}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07464912222345571}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06038818252464253}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07460531126073519}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.060344482809536526}], "left_finger_force_n": 0.40285579059475507, "right_finger_force_n": 0.40509441255425216, "bilateral_contact": true, "supported": false, "lift_m": 0.04502747549561653}, "target_sequence": 7240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 181, "source_target": [0.5444542169570923, -1.4859914779663086, 1.5451031923294067, 1.4250922203063965, -2.1090433597564697, 0.0], "source_tool_goal_m": [0.10793680897038628, -0.23009148947440095, 0.07490482794970284], "target_tool_goal_m": [0.2494342232609371, -0.005249497090418183, 0.15071935429924144], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.028456219454325207, "joint2": 1.5204187957729098, "joint3": 1.3862451388721542, "joint4": -1.2882303011707579, "joint5": -0.010506329362579978, "joint6": 0.0023025603556871776, "gripper": 0.0}, "target_simulation_time": 14.560000000001532, "target_positions": {"joint1": -0.0301755779846891, "joint2": 1.5250309596991742, "joint3": 1.3817516928130233, "joint4": -1.2862036600108155, "joint5": -0.009426524190741073, "joint6": 0.0020447942756162125, "gripper": 0.008080079759192641}, "target_object": {"position_m": [0.25038947498018227, -0.0059646971984918555, 0.1463149247839333], "quaternion_wxyz": [0.7151805212735933, -0.05731544488340909, -0.062190816468642114, 0.693804053112701], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07391367749219242}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.060262036229240735}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07396094706910944}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06030918719909038}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0740200346396988}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06036812639833344}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0744003967762386}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.060740753103984406}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07435309973915213}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06069357554063631}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07429397904583478}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06063460407689958}], "left_finger_force_n": 0.4028340090276652, "right_finger_force_n": 0.4051164082827458, "bilateral_contact": true, "supported": false, "lift_m": 0.04619355575605083}, "target_sequence": 7280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 182, "source_target": [0.5440234541893005, -1.4874179363250732, 1.5357736349105835, 1.4326958656311035, -2.1095688343048096, 0.0], "source_tool_goal_m": [0.10803401648566377, -0.2304282673389563, 0.07644545136584556], "target_tool_goal_m": [0.24916591358683718, -0.005465618478636271, 0.15225997771538413], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.029117761189592417, "joint2": 1.5156373824340295, "joint3": 1.3879866168594996, "joint4": -1.289923819735768, "joint5": -0.010181110339140228, "joint6": 0.0022433573265888715, "gripper": 0.0}, "target_simulation_time": 14.640000000001558, "target_positions": {"joint1": -0.03013437225047783, "joint2": 1.5213657751860141, "joint3": 1.3833521027674636, "joint4": -1.2867574465729437, "joint5": -0.009526346917544275, "joint6": 0.0020884701599012782, "gripper": 0.008080004804339798}, "target_object": {"position_m": [0.25045337937559475, -0.0059372968768929245, 0.14754634993279994], "quaternion_wxyz": [0.7150474347467963, -0.05894357699630915, -0.06384638708178655, 0.6936544237943769], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07360108687749073}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.060509978864790245}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07367559279950464}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06058429844963347}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0737687268070435}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.060677199245636936}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07415280408524999}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.061053784750684494}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0740782536336981}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06097942217922777}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0739850671845927}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.060886470289953344}], "left_finger_force_n": 0.4028168830440995, "right_finger_force_n": 0.4051358021234064, "bilateral_contact": true, "supported": false, "lift_m": 0.04742498090491748}, "target_sequence": 7320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 183, "source_target": [0.5434702634811401, -1.4886398315429688, 1.5298378467559814, 1.4440160989761353, -2.10988450050354, 0.0], "source_tool_goal_m": [0.1075399932597313, -0.22983867591190668, 0.07741039765886995], "target_tool_goal_m": [0.24951254376871343, -0.0047937231625900315, 0.15322492400840854], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027316069482078233, "joint2": 1.5130547588942336, "joint3": 1.3895426392465213, "joint4": -1.2894268049006017, "joint5": -0.011449322770161552, "joint6": 0.00259750193856775, "gripper": 0.0}, "target_simulation_time": 14.720000000001585, "target_positions": {"joint1": -0.0299772551298271, "joint2": 1.5176274567733579, "joint3": 1.3850879372059755, "joint4": -1.2872125755947412, "joint5": -0.009745065195555874, "joint6": 0.0021887500713039915, "gripper": 0.00808005887094685}, "target_object": {"position_m": [0.25055662227032877, -0.005861591648635259, 0.14883266321500585], "quaternion_wxyz": [0.7148784911117533, -0.06063617150004133, -0.06565663558869451, 0.6935136652256911], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07333668707762418}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.060834754161030444}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07337979843860215}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06087776802391802}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07343368811848691}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06093153574829009}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07382942224698699}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06132031006245492}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07378628642599518}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06127727236699089}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07373236713094976}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06122347564588977}], "left_finger_force_n": 0.4027942315679518, "right_finger_force_n": 0.4051691338792675, "bilateral_contact": true, "supported": false, "lift_m": 0.04871129418712339}, "target_sequence": 7360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 184, "source_target": [0.5451735258102417, -1.4900413751602173, 1.5254502296447754, 1.4485832452774048, -2.1119771003723145, 0.0068359375], "source_tool_goal_m": [0.10787007798185393, -0.22967291675343054, 0.07825669849689398], "target_tool_goal_m": [0.2497882569586346, -0.00502990916906894, 0.15407122484643257], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027985819964604218, "joint2": 1.5106971618426717, "joint3": 1.3908245996948774, "joint4": -1.2889065696601356, "joint5": -0.011112941424484327, "joint6": 0.002550844739942825, "gripper": 0.0003664453125}, "target_simulation_time": 14.800000000001612, "target_positions": {"joint1": -0.029888550683185203, "joint2": 1.5144996381633693, "joint3": 1.386838842989231, "joint4": -1.28749560968346, "joint5": -0.009928724607471058, "joint6": 0.0022685552545322635, "gripper": 0.008083663522499859}, "target_object": {"position_m": [0.2507281958516961, -0.005806907225554612, 0.1499869546627763], "quaternion_wxyz": [0.7147316084898686, -0.062198269666695345, -0.06731232152339321, 0.6933679791042318], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07024207461798392}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.058258797021639434}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07031176477825646}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05832833488447167}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07039887880314383}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05841525830869395}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07079615769749911}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.058805590860578745}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07072642556419799}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05873601245237027}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07063926173204706}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05864904054754004}], "left_finger_force_n": 0.38595510841418923, "right_finger_force_n": 0.38835248885423324, "bilateral_contact": true, "supported": false, "lift_m": 0.04986558563489385}, "target_sequence": 7400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 185, "source_target": [0.544243335723877, -1.4900567531585693, 1.5198445320129395, 1.4546470642089844, -2.1121315956115723, 0.004101562313735485], "source_tool_goal_m": [0.10766059010076265, -0.2297100304573554, 0.07901116235490172], "target_tool_goal_m": [0.24967498898311896, -0.004854134379274277, 0.1548256887044403], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027581951461670404, "joint2": 1.5082032593439394, "joint3": 1.3915487410500094, "joint4": -1.289480656933997, "joint5": -0.011499448525326668, "joint6": 0.0026843506689778075, "gripper": 0.00021986717751515766}, "target_simulation_time": 14.880000000001639, "target_positions": {"joint1": -0.029806727040616425, "joint2": 1.5119155319318056, "joint3": 1.3879856721521096, "joint4": -1.2877801897953294, "joint5": -0.010121987762637221, "joint6": 0.0023547185553617696, "gripper": 0.008083343671510807}, "target_object": {"position_m": [0.2507929158838343, -0.005752201859774903, 0.15087023220959725], "quaternion_wxyz": [0.7146260970115399, -0.063351244237294, -0.06857746457989339, 0.6932483629085846], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07092809769963734}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05945532853084317}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07099529116009608}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05952238062281361}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07107928421183977}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0596061967623327}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07148670923923009}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06000709537350154}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0714194761849822}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05994000485526762}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07133543610138594}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05985614273991936}], "left_finger_force_n": 0.39158657898756266, "right_finger_force_n": 0.3940448644942868, "bilateral_contact": true, "supported": false, "lift_m": 0.05074886318171479}, "target_sequence": 7440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 186, "source_target": [0.546581506729126, -1.4918701648712158, 1.51557195186615, 1.4594331979751587, -2.1127843856811523, 0.0013671874767169356], "source_tool_goal_m": [0.10808510067968753, -0.22944434669185765, 0.07991385442620037], "target_tool_goal_m": [0.2500771667529273, -0.005137926939946315, 0.15572838077573897], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.028384280672893752, "joint2": 1.5060554186594848, "joint3": 1.393234964410358, "joint4": -1.2888352281393207, "joint5": -0.01110711217000128, "joint6": 0.0026154837095953916, "gripper": 7.32890612518947e-05}, "target_simulation_time": 14.960000000001665, "target_positions": {"joint1": -0.029751672781656184, "joint2": 1.5099374425412078, "joint3": 1.389034456409694, "joint4": -1.2879770392263497, "joint5": -0.010253199031914805, "joint6": 0.0024124480948724907, "gripper": 0.008081650262447868}, "target_object": {"position_m": [0.2508757761835804, -0.005716814869464549, 0.1515849059731061], "quaternion_wxyz": [0.7145407424664668, -0.06429597652788797, -0.06959448758324278, 0.6931480087656751], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07183335509295583}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0608236238092162}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07192927450840256}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06091934169365195}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.072049176428641}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06103899128681044}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07246253577834047}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.061445954526918485}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07236655765126579}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06135017985615543}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07224658766269143}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06123046377433904}], "left_finger_force_n": 0.39859376281967795, "right_finger_force_n": 0.40110227924971065, "bilateral_contact": true, "supported": false, "lift_m": 0.051463536945223626}, "target_sequence": 7480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 187, "source_target": [0.54585200548172, -1.4924005270004272, 1.5078397989273071, 1.4652355909347534, -2.113043785095215, 0.0], "source_tool_goal_m": [0.10810235389611408, -0.22977184817061203, 0.08107653428361401], "target_tool_goal_m": [0.24978687412955622, -0.005278050919143922, 0.1568910606331526], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.028834733356335757, "joint2": 1.5024675706766741, "joint3": 1.3945514621625803, "joint4": -1.2903822721978606, "joint5": -0.010908176693352773, "joint6": 0.0025849271004344605, "gripper": 0.0}, "target_simulation_time": 15.040000000001692, "target_positions": {"joint1": -0.02971650701756671, "joint2": 1.5077721345549584, "joint3": 1.3900402574507176, "joint4": -1.2883253186687167, "joint5": -0.01033709651230516, "joint6": 0.0024492749943147854, "gripper": 0.008080446689260236}, "target_object": {"position_m": [0.2509067870181981, -0.005693706453579365, 0.15232809466569086], "quaternion_wxyz": [0.7144549305646185, -0.06525231075922858, -0.07058802855012339, 0.693046620623674], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07222828385159874}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06167213917842366}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07233706402546264}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06178069662785671}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07247304271582118}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.061916396396730376}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07289112572647627}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.062328408872967735}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07278227922256446}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.062219787139349725}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07264622458922605}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06208401295254189}], "left_finger_force_n": 0.4024076227958933, "right_finger_force_n": 0.4049518385031261, "bilateral_contact": true, "supported": false, "lift_m": 0.0522067256378084}, "target_sequence": 7520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 188, "source_target": [0.5471037030220032, -1.4927619695663452, 1.5073268413543701, 1.4710159301757812, -2.1130974292755127, 0.00820312462747097], "source_tool_goal_m": [0.10792553489356616, -0.22896675949243137, 0.0811528187948056], "target_tool_goal_m": [0.2504494046534435, -0.004811760814537038, 0.15696734514434418], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027554124305240884, "joint2": 1.5028604389950158, "joint3": 1.3952835222174527, "joint4": -1.288434453568385, "joint5": -0.011811461006814739, "joint6": 0.0028403080324010403, "gripper": 0.0004397343550303153}, "target_simulation_time": 15.120000000001719, "target_positions": {"joint1": -0.02964378298523697, "joint2": 1.506010560158639, "joint3": 1.3912636791528112, "joint4": -1.288404251147759, "joint5": -0.01050717753396589, "joint6": 0.002526260563800997, "gripper": 0.008084547075637561}, "target_object": {"position_m": [0.25106031321648054, -0.005646444226246032, 0.15304021752236896], "quaternion_wxyz": [0.714363418070924, -0.0662111228871861, -0.07164847176171468, 0.692941188429621], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06870393225905021}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05862874176981027}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0687814062387901}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05870607402600357}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06887825032623246}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05880274071985965}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06930121390252093}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.059220070631698984}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06922369489630752}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0591426944682828}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06912679776108363}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05904597564723689}], "left_finger_force_n": 0.3825011453397463, "right_finger_force_n": 0.38506044730713074, "bilateral_contact": true, "supported": false, "lift_m": 0.0529188484944865}, "target_sequence": 7560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 189, "source_target": [0.5476568341255188, -1.4948738813400269, 1.5017751455307007, 1.4785165786743164, -2.114051342010498, 0.0], "source_tool_goal_m": [0.10790395179830282, -0.22870122680798943, 0.0822657351032297], "target_tool_goal_m": [0.250681882312973, -0.004691266939299054, 0.15808026145276827], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02727642087837658, "joint2": 1.5002178372019237, "joint3": 1.3972971134597485, "joint4": -1.2886621286495328, "joint5": -0.01212351503699683, "joint6": 0.002954860353208742, "gripper": 0.0}, "target_simulation_time": 15.200000000001745, "target_positions": {"joint1": -0.02955920402711731, "joint2": 1.5047144284048541, "joint3": 1.3927176700823727, "joint4": -1.2884441375896318, "joint5": -0.010707126588825703, "joint6": 0.0026157247702885775, "gripper": 0.008081448566089335}, "target_object": {"position_m": [0.2512985643232462, -0.00559647163067348, 0.1536965109145222], "quaternion_wxyz": [0.7142760103030633, -0.06708314614573153, -0.07264681860476113, 0.6928434688696539], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07163157613222253}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0619800912274383}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07170956281499606}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06205793601839505}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07180704785211639}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06215524345946168}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07224198131911573}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06258459983155774}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07216394777622806}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06250670943874666}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07206640754314933}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06240934791180879}], "left_finger_force_n": 0.40134145750463, "right_finger_force_n": 0.4039729938206063, "bilateral_contact": true, "supported": false, "lift_m": 0.05357514188663973}, "target_sequence": 7600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 190, "source_target": [0.5479289293289185, -1.493896245956421, 1.4965990781784058, 1.4814274311065674, -2.1148433685302734, 0.0068359375], "source_tool_goal_m": [0.10810134492741502, -0.2289103634105681, 0.08281037739964925], "target_tool_goal_m": [0.25056734919982687, -0.004949680299652017, 0.15862490374918783], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.028052372225888314, "joint2": 1.4987452613378176, "joint3": 1.3981066626444223, "joint4": -1.2894536147941562, "joint5": -0.01174940113938755, "joint6": 0.0028916010071290254, "gripper": 0.0003664453125}, "target_simulation_time": 15.280000000001772, "target_positions": {"joint1": -0.029501287387584986, "joint2": 1.5031700925084421, "joint3": 1.393924969721508, "joint4": -1.2885744556229828, "joint5": -0.010844801867812495, "joint6": 0.0026763832696900633, "gripper": 0.008083932538527414}, "target_object": {"position_m": [0.2514512221743949, -0.005558905598610468, 0.15435227750224578], "quaternion_wxyz": [0.7141895632403904, -0.06795219921314252, -0.0735959392404922, 0.6927477203917083], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06879130843882193}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05953527339466857}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06889714480326245}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05964092765059567}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06902944337623695}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05977299816308154}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06946699563259857}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06020514614620007}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06936109407783288}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06009942860589681}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06922872027672143}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0599672843976912}], "left_finger_force_n": 0.38566709582666714, "right_finger_force_n": 0.388328669136941, "bilateral_contact": true, "supported": false, "lift_m": 0.05423090847436332}, "target_sequence": 7640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 191, "source_target": [0.547761857509613, -1.495558738708496, 1.4942991733551025, 1.4830150604248047, -2.1149792671203613, 0.0], "source_tool_goal_m": [0.10815164840566131, -0.2290606605227469, 0.08343218047888143], "target_tool_goal_m": [0.25045023904840386, -0.00505240481688142, 0.15924670682842001], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02838734871261302, "joint2": 1.4969376900186757, "joint3": 1.3989176487751158, "joint4": -1.2901977280719907, "joint5": -0.0116252879419386, "joint6": 0.002882458322649011, "gripper": 0.0}, "target_simulation_time": 15.360000000001799, "target_positions": {"joint1": -0.029459445937787022, "joint2": 1.5014031292377301, "joint3": 1.394767330586673, "joint4": -1.2888148670582416, "joint5": -0.010943660991095826, "joint6": 0.0027199410022183666, "gripper": 0.008081195653305511}, "target_object": {"position_m": [0.25148468887182424, -0.005532034839825256, 0.15496877485409352], "quaternion_wxyz": [0.7141119607496064, -0.06874430529315712, -0.0744417903242854, 0.6926591859330468], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07123518673969993}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06235829180077683}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07134975604419491}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.062472664815988524}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0714929714615244}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.062615634391068}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07193700124967639}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0630545195821557}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07182236155561306}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06294007808287959}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07167906575211479}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0627970295418685}], "left_finger_force_n": 0.4015245052532526, "right_finger_force_n": 0.40423005576430804, "bilateral_contact": true, "supported": false, "lift_m": 0.05484740582621106}, "target_sequence": 7680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 192, "source_target": [0.5468323230743408, -1.4965789318084717, 1.4882307052612305, 1.4917495250701904, -2.1129167079925537, 0.0], "source_tool_goal_m": [0.10777141231647219, -0.22882552484476043, 0.08440735606076484], "target_tool_goal_m": [0.2505188381653491, -0.004618378308631229, 0.16022188241030344], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.027253419491329152, "joint2": 1.4943473333170758, "joint3": 1.400413199863083, "joint4": -1.2906537978777, "joint5": -0.012453638360731382, "joint6": 0.003119450630405055, "gripper": 0.0}, "target_simulation_time": 15.440000000001826, "target_positions": {"joint1": -0.029384503941550878, "joint2": 1.499390185701432, "joint3": 1.3957242136699728, "joint4": -1.2891203885520734, "joint5": -0.011119155915705555, "joint6": 0.002799139713807366, "gripper": 0.008080393025232226}, "target_object": {"position_m": [0.25150916643368826, -0.0054821893000592025, 0.15566705590032143], "quaternion_wxyz": [0.7140220994329196, -0.0696046479480457, -0.07541145705457306, 0.6925610057246516], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07122411345481128}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06274714106873751}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07131116189741607}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0628340488470283}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07141997456362875}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0629426854272806}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07187287223595999}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0633907562816351}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0717857720824254}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06330379795837181}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07167689901701307}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06319510192503842}], "left_finger_force_n": 0.4024791252589025, "right_finger_force_n": 0.4052251995004438, "bilateral_contact": true, "supported": false, "lift_m": 0.055545686872438965}, "target_sequence": 7720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 193, "source_target": [0.5480238795280457, -1.4976409673690796, 1.485322117805481, 1.4967485666275024, -2.113910436630249, 0.0], "source_tool_goal_m": [0.10783453772023227, -0.22843812580729422, 0.08496951187214649], "target_tool_goal_m": [0.2508939749952202, -0.004528342871829452, 0.16078403822168508], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02704492778939775, "joint2": 1.4931968497011923, "joint3": 1.401610745054395, "joint4": -1.2898832842161136, "joint5": -0.012717125718126457, "joint6": 0.0032225534415034614, "gripper": 0.0}, "target_simulation_time": 15.520000000001852, "target_positions": {"joint1": -0.02930066804083528, "joint2": 1.4974393034364324, "joint3": 1.3971002129049521, "joint4": -1.2892837816390692, "joint5": -0.011317098613244555, "joint6": 0.002887645112095306, "gripper": 0.00808012010058527}, "target_object": {"position_m": [0.2516560909791512, -0.005428634164944038, 0.15646039960770208], "quaternion_wxyz": [0.7139091597526215, -0.07063757159237563, -0.0765656535079227, 0.692446204266977], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07105581579553243}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06294171391372852}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07114570127280252}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0630314601943729}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07125806037182729}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06314364503617054}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07171757131188657}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06359841778825749}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07162763102567633}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06350861801685485}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07151520793723828}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0633963703102748}], "left_finger_force_n": 0.4025763965844342, "right_finger_force_n": 0.4053638163901883, "bilateral_contact": true, "supported": false, "lift_m": 0.05633903057981962}, "target_sequence": 7760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 194, "source_target": [0.5478189587593079, -1.498600721359253, 1.4853776693344116, 1.4976317882537842, -2.112542152404785, 0.0], "source_tool_goal_m": [0.10774029276174957, -0.22837272134287412, 0.08512670087594243], "target_tool_goal_m": [0.25091743513506304, -0.0044180576074192126, 0.16094122722548102], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.026813937619933535, "joint2": 1.492660005660876, "joint3": 1.401751501127191, "joint4": -1.2897671161643862, "joint5": -0.01300188988800631, "joint6": 0.0033342896118190623, "gripper": 0.0}, "target_simulation_time": 15.600000000001879, "target_positions": {"joint1": -0.029211596063010565, "joint2": 1.4959331105575386, "joint3": 1.3981802360412565, "joint4": -1.2893517931741802, "joint5": -0.011526328726389477, "joint6": 0.0029809714582077246, "gripper": 0.008080052482000447}, "target_object": {"position_m": [0.25179138884540553, -0.005371074853858203, 0.15708483316430655], "quaternion_wxyz": [0.7138174818383233, -0.07144946283741575, -0.0775137605319657, 0.6923519291591772], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07087864062080658}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06311257044278457}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07097015851422077}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06320395268548326}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07108455821037472}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06331818255881033}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0715516006738241}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06378067394433541}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07146002676936733}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06368923700106091}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07134556173602646}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06357494290956224}], "left_finger_force_n": 0.4025680630324802, "right_finger_force_n": 0.4054020430341765, "bilateral_contact": true, "supported": false, "lift_m": 0.056963464136424086}, "target_sequence": 7800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 195, "source_target": [0.5474328994750977, -1.497756838798523, 1.4812843799591064, 1.5010979175567627, -2.1134328842163086, 0.0], "source_tool_goal_m": [0.10768875156802929, -0.22844223931870872, 0.08553164159652646], "target_tool_goal_m": [0.2508348321815779, -0.004397764387381676, 0.16134616794606504], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.026839932147465773, "joint2": 1.4913915684734498, "joint3": 1.4021969611998713, "joint4": -1.29017294258845, "joint5": -0.013130662050614552, "joint6": 0.0034060760491030828, "gripper": 0.0}, "target_simulation_time": 15.680000000001906, "target_positions": {"joint1": -0.02912557736563352, "joint2": 1.494890108425615, "joint3": 1.3986027547162914, "joint4": -1.2894655655349423, "joint5": -0.011727871935877614, "joint6": 0.003070636825817237, "gripper": 0.008080007361739517}, "target_object": {"position_m": [0.25180082820399824, -0.005311870225635598, 0.15743470566967357], "quaternion_wxyz": [0.7137709268006016, -0.07184592687121169, -0.07805230921993424, 0.6922983922209147], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07070108829840059}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06326308361211348}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07080060747583303}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06336246094196488}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07092500921866418}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06348668507899358}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07140151014069768}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06395879639650116}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07130192939921887}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06385935894068069}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0711774562655539}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06373506461754276}], "left_finger_force_n": 0.40253893462596974, "right_finger_force_n": 0.40543411576019506, "bilateral_contact": true, "supported": false, "lift_m": 0.05731333664179111}, "target_sequence": 7840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 196, "source_target": [0.5477792024612427, -1.4986228942871094, 1.4801634550094604, 1.5036687850952148, -2.1117546558380127, 0.0], "source_tool_goal_m": [0.10764873719299492, -0.2282419836311185, 0.08582482849391816], "target_tool_goal_m": [0.25100113625252546, -0.004285376432021311, 0.16163935484345676], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02659749664699789, "joint2": 1.4907168036990028, "joint3": 1.4027435807576198, "joint4": -1.2898093286161003, "joint5": -0.013435950587737841, "joint6": 0.00352353911986128, "gripper": 0.0}, "target_simulation_time": 15.760000000001932, "target_positions": {"joint1": -0.029035055611325387, "joint2": 1.4942911115679967, "joint3": 1.3988317330765174, "joint4": -1.2895398975611903, "joint5": -0.011939341338072623, "joint6": 0.00316511559051241, "gripper": 0.008080004787300513}, "target_object": {"position_m": [0.25179874334282354, -0.005249433563881973, 0.15763030050470495], "quaternion_wxyz": [0.7137483032162854, -0.07201902241545498, -0.07838119463419618, 0.6922665732172196], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07053572131053994}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06341834346794158}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07063537260957636}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06351785903240649}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07075993949790121}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06364225596897313}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07124644520920008}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06412456504813778}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07114673236631394}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06402498931026875}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07102209409927733}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0639005221407343}], "left_finger_force_n": 0.4025094918873387, "right_finger_force_n": 0.4054653481739322, "bilateral_contact": true, "supported": false, "lift_m": 0.057508931476822484}, "target_sequence": 7880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 197, "source_target": [0.5456458330154419, -1.4987291097640991, 1.476439118385315, 1.505361557006836, -2.1141550540924072, 0.0], "source_tool_goal_m": [0.10740375137208827, -0.22870174833000212, 0.08636780331830037], "target_tool_goal_m": [0.2504912800953619, -0.004238078397757719, 0.16218232966783896], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.026588158492056847, "joint2": 1.4885453241684712, "joint3": 1.402895497629574, "joint4": -1.2915025138444793, "joint5": -0.013598450899679548, "joint6": 0.0036039978809572198, "gripper": 0.0}, "target_simulation_time": 15.84000000000196, "target_positions": {"joint1": -0.028946489337436272, "joint2": 1.493459066556672, "joint3": 1.3989305803847114, "joint4": -1.2898239859166427, "joint5": -0.012146652737909281, "joint6": 0.0032574494767856578, "gripper": 0.008079973018683548}, "target_object": {"position_m": [0.2517094976415507, -0.005185651513278893, 0.1578411626188856], "quaternion_wxyz": [0.7137297772303293, -0.07215105088932561, -0.07866698576265715, 0.692239507902668], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07037247989864044}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06355690807183735}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07047854506617737}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06366283455432155}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07061112966692229}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06379524548949997}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07110766894731234}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06428773676444129}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.071001537621663}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06418174558778789}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07086887663202851}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06404925947489404}], "left_finger_force_n": 0.402477142747399, "right_finger_force_n": 0.40549682502812706, "bilateral_contact": true, "supported": false, "lift_m": 0.05771979359100313}, "target_sequence": 7920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 198, "source_target": [0.5475518107414246, -1.498765230178833, 1.4758867025375366, 1.5060495138168335, -2.113125801086426, 0.0], "source_tool_goal_m": [0.10774089783990119, -0.2284804420919066, 0.08644760436773163], "target_tool_goal_m": [0.2508200259420718, -0.0044595514287101255, 0.16226213071727022], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02723211612777098, "joint2": 1.4886631247099218, "joint3": 1.4033321576712694, "joint4": -1.2905441762194814, "joint5": -0.013321200420991665, "joint6": 0.0035684838317091355, "gripper": 0.0}, "target_simulation_time": 15.920000000001986, "target_positions": {"joint1": -0.028881582121322184, "joint2": 1.4925446079629552, "joint3": 1.3991803262999578, "joint4": -1.2899841872350344, "joint5": -0.012299112893071479, "joint6": 0.0033248534453967395, "gripper": 0.008079920586271392}, "target_object": {"position_m": [0.25167083473364343, -0.005139239486579761, 0.15811279855194102], "quaternion_wxyz": [0.7136968973884384, -0.07243136860126706, -0.0790559164597913, 0.6921998248868363], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07020807132632138}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06366859073273617}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0703354331435142}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06379579120849357}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07049464002676728}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06395479597834991}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07099614230772146}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.064452381007585}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07086869952268463}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06432510139857306}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0707094006933808}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06416600610234442}], "left_finger_force_n": 0.40245732241618254, "right_finger_force_n": 0.4055177310322894, "bilateral_contact": true, "supported": false, "lift_m": 0.05799142952405856}, "target_sequence": 7960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 199, "source_target": [0.5475231409072876, -1.5004379749298096, 1.4786456823349, 1.5053954124450684, -2.1103482246398926, 0.0], "source_tool_goal_m": [0.1076103072112433, -0.22828895170070387, 0.08635734974958904], "target_tool_goal_m": [0.2509439564231607, -0.004268395979274465, 0.16217187609912764], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02676101022404995, "joint2": 1.4888731340073602, "joint3": 1.4031723194866572, "joint4": -1.289968651508057, "joint5": -0.013737591738294998, "joint6": 0.0037064208191061104, "gripper": 0.0}, "target_simulation_time": 16.00000000000201, "target_positions": {"joint1": -0.02880680964421495, "joint2": 1.4921231224934572, "joint3": 1.3994560958049773, "joint4": -1.2900006718851242, "joint5": -0.012472930885010988, "joint6": 0.0034027225274891252, "gripper": 0.008079992698427988}, "target_object": {"position_m": [0.25170221009225596, -0.005088842538599603, 0.15828118983633943], "quaternion_wxyz": [0.7136761694528992, -0.07259523150435829, -0.07934786138088656, 0.6921706252161698], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07007273064650471}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06382199151719804}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07018905506411066}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06393817585268952}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0703344643806292}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06408340972262949}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07084343985807275}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06458870528910075}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07072704320490245}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06447245016748437}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07058155121315995}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06432713474598513}], "left_finger_force_n": 0.4024398271837616, "right_finger_force_n": 0.4055403244787054, "bilateral_contact": true, "supported": false, "lift_m": 0.05815982080845697}, "target_sequence": 8000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 200, "source_target": [0.5354210734367371, -1.4989103078842163, 1.480325698852539, 1.5030357837677002, -2.1015686988830566, 0.0], "source_tool_goal_m": [0.10542023183135159, -0.22966939523402108, 0.08586337421876185], "target_tool_goal_m": [0.2488602461041718, -0.0028080050418471413, 0.16167790056830045], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.023049657086098498, "joint2": 1.487007018617086, "joint3": 1.399494415369139, "joint4": -1.295005899488169, "joint5": -0.016300632905228797, "joint6": 0.004415144434687432, "gripper": 0.0}, "target_simulation_time": 16.080000000001966, "target_positions": {"joint1": -0.02731284922483107, "joint2": 1.4916221542699526, "joint3": 1.3994243465450622, "joint4": -1.2907095375288717, "joint5": -0.012857078502358838, "joint6": 0.0036005450715336615, "gripper": 0.008078585747332985}, "target_object": {"position_m": [0.2515092310914655, -0.004650086768068844, 0.15838286085919842], "quaternion_wxyz": [0.7132550733744724, -0.07230247513372876, -0.07944387493952826, 0.6926241571947266], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0698503334450094}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06391393038818476}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0700020886321614}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06406551061907555}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07019178916991364}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0642549918957857}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07075580950081647}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06481545415801361}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07060395687909227}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06466377856788669}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0704141477134694}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06447419012558782}], "left_finger_force_n": 0.4022786441501305, "right_finger_force_n": 0.4057273369448663, "bilateral_contact": true, "supported": false, "lift_m": 0.05826149183131596}, "target_sequence": 8040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 201, "source_target": [0.5301191806793213, -1.498226523399353, 1.4805676937103271, 1.5032492876052856, -2.0955464839935303, 0.0054687499068677425], "source_tool_goal_m": [0.10439538386770131, -0.23017236397821392, 0.08570322539830894], "target_tool_goal_m": [0.24801479857812128, -0.00207025414026516, 0.16151775174784752], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.02082361537521961, "joint2": 1.4862328522832835, "joint3": 1.3981546993570588, "joint4": -1.2971777236116948, "joint5": -0.017166381093558298, "joint6": 0.004739601274866058, "gripper": 0.0002931562450075788}, "target_simulation_time": 16.160000000001922, "target_positions": {"joint1": -0.02446903168640313, "joint2": 1.4907056683735216, "joint3": 1.3992177487880662, "joint4": -1.2923170525893906, "joint5": -0.013373116289279114, "joint6": 0.0038398566527920097, "gripper": 0.008082158386267071}, "target_object": {"position_m": [0.25103981433061945, -0.0038274630288090035, 0.15853565415666782], "quaternion_wxyz": [0.712388695519677, -0.07166978557566736, -0.07941042141964656, 0.6935847268367906], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06760692483803647}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.061930653460467326}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06774983605319235}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06207340852568265}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06792848093748044}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.062251857724656454}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06826579593786866}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06258627036302579}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06812280624052867}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06244343761433916}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06794407499822878}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.062264902059707944}], "left_finger_force_n": 0.3895411615395157, "right_finger_force_n": 0.391627287213699, "bilateral_contact": true, "supported": false, "lift_m": 0.058414285128785354}, "target_sequence": 8080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 202, "source_target": [0.521632730960846, -1.5011450052261353, 1.4798567295074463, 1.5027225017547607, -2.0880537033081055, 0.0], "source_tool_goal_m": [0.10296022964896923, -0.23132228770082383, 0.0863461321020404], "target_tool_goal_m": [0.24642698431829946, -0.0012065093429660325, 0.16216065845157898], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01791435322694054, "joint2": 1.4825412812648664, "joint3": 1.3973248725584628, "joint4": -1.302100464320999, "joint5": -0.017739385687651644, "joint6": 0.004991239209827417, "gripper": 0.0}, "target_simulation_time": 16.240000000001878, "target_positions": {"joint1": -0.021312558191287315, "joint2": 1.488729125710279, "joint3": 1.3985737170273305, "joint4": -1.2970913279751108, "joint5": -0.013923282874229824, "joint6": 0.004084905145033143, "gripper": 0.008080826549708386}, "target_object": {"position_m": [0.24965926406205136, -0.002902793673556166, 0.15881146982664274], "quaternion_wxyz": [0.7115091833971282, -0.07012272632523847, -0.0785282827021743, 0.6947451288135208], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06963299498689078}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06419733457521118}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0697571363911168}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06432134211138689}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06991231769452831}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06447635571982796}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07020447721318405}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06476619954017113}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07008027927525569}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06464213519988887}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06992503638258449}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06448705894426605}], "left_finger_force_n": 0.40229748147896194, "right_finger_force_n": 0.40410518655535027, "bilateral_contact": true, "supported": false, "lift_m": 0.058690100798760275}, "target_sequence": 8120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 203, "source_target": [0.517044186592102, -1.5018386840820312, 1.4820783138275146, 1.5017240047454834, -2.0828018188476562, 0.0], "source_tool_goal_m": [0.10203377462308887, -0.23168821660551986, 0.08616053503667476], "target_tool_goal_m": [0.2457431509117864, -0.0005058530518746524, 0.16197506138621334], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.015265192151662704, "joint2": 1.4827731712836416, "joint3": 1.3968334287595183, "joint4": -1.304582026950111, "joint5": -0.017969273916128722, "joint6": 0.005152673434093789, "gripper": 0.0}, "target_simulation_time": 16.320000000001833, "target_positions": {"joint1": -0.018348174114412252, "joint2": 1.4864042961853783, "joint3": 1.3977083563920416, "joint4": -1.300925623318245, "joint5": -0.014451950765607903, "joint6": 0.0043150768492788245, "gripper": 0.008080671469919231}, "target_object": {"position_m": [0.24839884109730556, -0.002038247972826403, 0.15911989615153863], "quaternion_wxyz": [0.7106466007905777, -0.06893465451323283, -0.07796326307493746, 0.695809709477129], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06965868466342938}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06445160878096892}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06976485212647346}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06455766698890511}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06989756474123102}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0646902427858843}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07020002009096978}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06499031004480198}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07009380115573682}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06488420037998238}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06996103076720651}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06475156633046297}], "left_finger_force_n": 0.4030206200868922, "right_finger_force_n": 0.40488092876916043, "bilateral_contact": true, "supported": false, "lift_m": 0.058998527123656164}, "target_sequence": 8160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 204, "source_target": [0.5106298327445984, -1.499556541442871, 1.4815146923065186, 1.5017542839050293, -2.075387477874756, 0.0], "source_tool_goal_m": [0.1008359406238414, -0.23236920377715695, 0.0858295736762624], "target_tool_goal_m": [0.24467059252352436, 0.00032102817249446284, 0.16164410002580099], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.01233615377707956, "joint2": 1.4822831926156057, "joint3": 1.3950869096215188, "joint4": -1.307410747382118, "joint5": -0.018481988325612726, "joint6": 0.005379191354041463, "gripper": 0.0}, "target_simulation_time": 16.40000000000179, "target_positions": {"joint1": -0.015562574222924303, "joint2": 1.4850897966573648, "joint3": 1.39690969187981, "joint4": -1.3028712574716208, "joint5": -0.01496575594294829, "joint6": 0.004541851343037326, "gripper": 0.008080437838478595}, "target_object": {"position_m": [0.2476858395973232, -0.0012388464651985813, 0.15922257502247872], "quaternion_wxyz": [0.7098053618706291, -0.06812412318890475, -0.07774005359455091, 0.6967725139287325], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06952940261758564}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06454832454894326}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06963517356205258}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06465399231874162}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06976739044331556}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06478607999909637}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07013083569182789}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0651470241679606}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07002500874402376}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06504130075196508}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0698927282649115}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06490914945491993}], "left_finger_force_n": 0.40292036348973503, "right_finger_force_n": 0.40514604707560875, "bilateral_contact": true, "supported": false, "lift_m": 0.059101205994596256}, "target_sequence": 8200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 205, "source_target": [0.4996047616004944, -1.5013827085494995, 1.484884262084961, 1.5034903287887573, -2.066408395767212, 0.0], "source_tool_goal_m": [0.09843786440641494, -0.23290370899850907, 0.08565354608946828], "target_tool_goal_m": [0.24327458683112277, 0.0022914999654187174, 0.16146807243900685], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.006370615943231598, "joint2": 1.480686646483201, "joint3": 1.3928906333337319, "joint4": -1.3109140275405788, "joint5": -0.02113794331226272, "joint6": 0.006172860711053024, "gripper": 0.0}, "target_simulation_time": 16.480000000001745, "target_positions": {"joint1": -0.011395024183553943, "joint2": 1.4842709357853632, "joint3": 1.395305915900019, "joint4": -1.3059060314969224, "joint5": -0.015655726952162705, "joint6": 0.004874206152762803, "gripper": 0.008078891938098331}, "target_object": {"position_m": [0.24657997175080054, -7.917622536271681e-05, 0.15901150687475216], "quaternion_wxyz": [0.7086227581268745, -0.06637228558557787, -0.07679867704766354, 0.6982481432660868], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0693238601816102}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06459661880580445}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06946723767426236}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06473986278347185}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06964646547212948}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06491892327841794}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07008927368522003}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06535957464378198}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06994582567466481}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06521626023597418}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06976652158285018}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06503712273826957}], "left_finger_force_n": 0.4026929681956963, "right_finger_force_n": 0.40541457856076074, "bilateral_contact": true, "supported": false, "lift_m": 0.058890137846869695}, "target_sequence": 8240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 206, "source_target": [0.4939870238304138, -1.5012402534484863, 1.4850573539733887, 1.5030851364135742, -2.059476852416992, 0.0], "source_tool_goal_m": [0.09739684321181921, -0.23350921881660539, 0.08560893119811859], "target_tool_goal_m": [0.24233004747578213, 0.0030049339053782537, 0.1614234575476572], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": -0.003382488140668733, "joint2": 1.479742767120404, "joint3": 1.3918139421569091, "joint4": -1.3136116647852405, "joint5": -0.02106208949714135, "joint6": 0.006301760223890888, "gripper": 0.0}, "target_simulation_time": 16.5600000000017, "target_positions": {"joint1": -0.006708240910465487, "joint2": 1.4836064810638678, "joint3": 1.3932663853504694, "joint4": -1.3093746032874467, "joint5": -0.016370798626723058, "joint6": 0.00518502970670397, "gripper": 0.00808043234076281}, "target_object": {"position_m": [0.24525981208017048, 0.0012254678525593912, 0.1586549126874063], "quaternion_wxyz": [0.7072614154396646, -0.06420007066826768, -0.07549406228367092, 0.6999716335083743], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06941674653293782}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06487685656662767}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06950656754526617}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0649665960084685}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06961884619823001}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0650787725404898}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06982403947392234}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0652822949085406}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0697341837855643}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06519252021328761}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0696218665427381}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06508030405400862}], "left_finger_force_n": 0.40346438539202, "right_finger_force_n": 0.4047352089780616, "bilateral_contact": true, "supported": false, "lift_m": 0.058533543659523846}, "target_sequence": 8280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 207, "source_target": [0.48611703515052795, -1.5010986328125, 1.4836475849151611, 1.5027072429656982, -2.0510687828063965, 0.0], "source_tool_goal_m": [0.09603094573042807, -0.2345287989994325, 0.08579536230141187], "target_tool_goal_m": [0.24088670287771008, 0.0038554481338583454, 0.16160988865095044], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.00015494919350297117, "joint2": 1.47760846971884, "joint3": 1.3905452211379825, "joint4": -1.3178845711472338, "joint5": -0.021035827978648947, "joint6": 0.006414507912020986, "gripper": 0.0}, "target_simulation_time": 16.640000000001656, "target_positions": {"joint1": -0.00289244315453501, "joint2": 1.482707814643842, "joint3": 1.3915579188646099, "joint4": -1.31344818847994, "joint5": -0.01699978304494355, "joint6": 0.00545261808618131, "gripper": 0.008080956429932342}, "target_object": {"position_m": [0.24385017232629627, 0.0022887023594532372, 0.15843380326737416], "quaternion_wxyz": [0.7061858067029475, -0.0620873116766557, -0.07410925466999456, 0.701394746567389], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06929027588528092}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06493792088778097}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06935815853787977}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06500574631490592}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0694430131317632}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06509052929572198}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06975307951412747}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06539881481470083}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0696851680713967}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06533096034221489}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06960028003912795}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0652461434414933}], "left_finger_force_n": 0.40312564405333273, "right_finger_force_n": 0.40501444622306115, "bilateral_contact": true, "supported": false, "lift_m": 0.0583124342394917}, "target_sequence": 8320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 208, "source_target": [0.48069632053375244, -1.5029034614562988, 1.4848860502243042, 1.5019049644470215, -2.0444610118865967, 0.0], "source_tool_goal_m": [0.09500481897092615, -0.23507583405290694, 0.08595345174273675], "target_tool_goal_m": [0.24000082712002185, 0.004577608252180985, 0.16176797809227533], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.0031199836494800472, "joint2": 1.4765646332464564, "joint3": 1.390177280591489, "joint4": -1.3209237737400739, "joint5": -0.021121804730101834, "joint6": 0.006538566791534487, "gripper": 0.0}, "target_simulation_time": 16.720000000001612, "target_positions": {"joint1": 0.00016609525398485572, "joint2": 1.4813977096922037, "joint3": 1.3905219982932, "joint4": -1.3169321244645202, "joint5": -0.017548980926782483, "joint6": 0.005687606135756931, "gripper": 0.008080891308267907}, "target_object": {"position_m": [0.24268559229131398, 0.0031407639155229703, 0.15847231511815643], "quaternion_wxyz": [0.7053032592605468, -0.06060692497178441, -0.0732350361618178, 0.7025031975730022], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06914488574940107}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06497607666621176}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06920935396053314}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06504049435267717}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0692899403113545}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0651210174812291}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0697085510646651}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06553762519340535}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06964405095105931}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06547317565005142}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06956342689572899}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06539261474107133}], "left_finger_force_n": 0.40278176852140674, "right_finger_force_n": 0.4053194444959815, "bilateral_contact": true, "supported": false, "lift_m": 0.05835094609027397}, "target_sequence": 8360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 209, "source_target": [0.47160348296165466, -1.5033901929855347, 1.486215353012085, 1.5012930631637573, -2.0360939502716064, 0.0], "source_tool_goal_m": [0.09323707591765129, -0.23589196288178446, 0.08585715470812903], "target_tool_goal_m": [0.23858914873603504, 0.005869692622712782, 0.1616716810576676], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.007434150870900544, "joint2": 1.4752870631326336, "joint3": 1.3885409849240655, "joint4": -1.3249405649742836, "joint5": -0.022547134007935805, "joint6": 0.007005172944336261, "gripper": 0.0}, "target_simulation_time": 16.800000000001567, "target_positions": {"joint1": 0.0034979436184152135, "joint2": 1.4798315093017338, "joint3": 1.3897992333323825, "joint4": -1.320281963638228, "joint5": -0.01814625023580494, "joint6": 0.0059614964154702755, "gripper": 0.00807987971535047}, "target_object": {"position_m": [0.24161882900655424, 0.00405157393424539, 0.15865214062287275], "quaternion_wxyz": [0.7043183272313884, -0.059378177833392, -0.07265327244914177, 0.7036557595341608], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0689548054762414}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06498623734463585}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06905070391189594}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06508206332088005}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06917057942293066}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0652018481137884}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06969656221846779}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06572584344940201}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06960061361170826}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06562996752541059}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06948068032310743}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06551012494633665}], "left_finger_force_n": 0.4024462375903723, "right_finger_force_n": 0.40564379207443274, "bilateral_contact": true, "supported": false, "lift_m": 0.05853077159499029}, "target_sequence": 8400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 210, "source_target": [0.4620770812034607, -1.5028176307678223, 1.486912727355957, 1.5024211406707764, -2.026007652282715, 0.0], "source_tool_goal_m": [0.09128714040706384, -0.2365524365639233, 0.08564193224516922], "target_tool_goal_m": [0.23724930520367074, 0.007386083652783019, 0.1614564585947078], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.012458927443967647, "joint2": 1.4743848334889909, "joint3": 1.3867584197805314, "joint4": -1.3285876952131315, "joint5": -0.024321041668895014, "joint6": 0.007590638576085824, "gripper": 0.0}, "target_simulation_time": 16.880000000001523, "target_positions": {"joint1": 0.007987710034808904, "joint2": 1.4781970295647031, "joint3": 1.38857717909838, "joint4": -1.3240310899437149, "joint5": -0.018876862897274974, "joint6": 0.006300337498380666, "gripper": 0.00807939076515974}, "target_object": {"position_m": [0.2403350938028015, 0.005255805566039387, 0.15873256339236308], "quaternion_wxyz": [0.7029741942573919, -0.0577738229901836, -0.0718571146253395, 0.7052134589349461], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06886613490797307}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06509125940743042}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06898022004967742}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06520526087530325}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06912283009997462}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06534776613247739}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06960013098096529}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06582341088084194}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0694859926986497}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06570935616269452}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06934332345725375}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06556679117562957}], "left_finger_force_n": 0.40261347147283616, "right_finger_force_n": 0.40552900535603476, "bilateral_contact": true, "supported": false, "lift_m": 0.05861119436448062}, "target_sequence": 8440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 211, "source_target": [0.4503468871116638, -1.5020467042922974, 1.4869544506072998, 1.5015586614608765, -2.0161402225494385, 0.0], "source_tool_goal_m": [0.08907916228406534, -0.2377381518360818, 0.08550845743904964], "target_tool_goal_m": [0.23533529361803165, 0.008936719325032337, 0.16132298378858823], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.01796469282765574, "joint2": 1.472468154613503, "joint3": 1.3843294219382118, "joint4": -1.3337340647536715, "joint5": -0.025776828026817196, "joint6": 0.00811975648690909, "gripper": 0.0}, "target_simulation_time": 16.96000000000148, "target_positions": {"joint1": 0.013487515027084803, "joint2": 1.4765663316996127, "joint3": 1.386582010733948, "joint4": -1.3290709341864184, "joint5": -0.019720561312504943, "joint6": 0.0066835967572806704, "gripper": 0.008079637587540801}, "target_object": {"position_m": [0.23856926565578318, 0.006708533408478703, 0.15863338633360896], "quaternion_wxyz": [0.7013481800074884, -0.055383082101624674, -0.07039897051067902, 0.7071686005247582], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0688365374311696}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06523901688751058}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06894090316514014}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06534330886665368}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06907136341415723}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06547367675983681}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06946029812114761}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06586145293455774}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06935589645078613}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06575712425196387}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06922539740768827}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06562671628130246}], "left_finger_force_n": 0.40290480652446803, "right_finger_force_n": 0.40528688544744607, "bilateral_contact": true, "supported": false, "lift_m": 0.0585120173057265}, "target_sequence": 8480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 212, "source_target": [0.4425182640552521, -1.5043795108795166, 1.4881212711334229, 1.500674843788147, -2.007091999053955, 0.0], "source_tool_goal_m": [0.08758781837547008, -0.23850509041003926, 0.08577431024623405], "target_tool_goal_m": [0.23407326293450373, 0.009996970230255973, 0.16158883659577264], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.022455950519432066, "joint2": 1.4706857672385039, "joint3": 1.383669344966052, "joint4": -1.3377634705569952, "joint5": -0.025979417895879958, "joint6": 0.008333378043172912, "gripper": 0.0}, "target_simulation_time": 17.040000000001434, "target_positions": {"joint1": 0.01887519150138778, "joint2": 1.475011638609006, "joint3": 1.3846294815764246, "joint4": -1.3339332169163978, "joint5": -0.020543608856419263, "joint6": 0.007040613948778321, "gripper": 0.008080643626270282}, "target_object": {"position_m": [0.23682846279168573, 0.008121004419082586, 0.15852631827295924], "quaternion_wxyz": [0.6997296859805495, -0.05302593095892879, -0.06893640472934176, 0.7090940623827655], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06882681412822768}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0653777409083044}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0688963376330832}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06544721803723041}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.068983243338013}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06553406570531244}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06932276515476479}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06587243586125574}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06925321738277578}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06580293399110647}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06916628397684393}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06571605789553582}], "left_finger_force_n": 0.40306541975017113, "right_finger_force_n": 0.4051336942622825, "bilateral_contact": true, "supported": false, "lift_m": 0.058404949245076776}, "target_sequence": 8520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 213, "source_target": [0.43154311180114746, -1.5046627521514893, 1.489211082458496, 1.5012356042861938, -1.9963558912277222, 0.0], "source_tool_goal_m": [0.08536398138047425, -0.2392868412179099, 0.08566349217800087], "target_tool_goal_m": [0.2325193808029197, 0.011715530122398995, 0.16147801852753946], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.0287774065980439, "joint2": 1.4694719521815502, "joint3": 1.3819349548575632, "joint4": -1.3421096216288249, "joint5": -0.027503615600135714, "joint6": 0.008876571989416068, "gripper": 0.0}, "target_simulation_time": 17.12000000000139, "target_positions": {"joint1": 0.024352130439766778, "joint2": 1.4736239919578513, "joint3": 1.3831657171330471, "joint4": -1.33781706166368, "joint5": -0.02140196181310394, "joint6": 0.007427358838224814, "gripper": 0.008080088674115438}, "target_object": {"position_m": [0.23543846646175176, 0.00954200679917349, 0.1585014832713768], "quaternion_wxyz": [0.6980474964167526, -0.05112786813135063, -0.06794983654741095, 0.7109841443800461], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06865778063718803}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06537795763379203}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06874360586638267}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06546372899783773}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06885088938006986}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06557094508469015}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06931680015910935}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06603555493030942}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0692309391852398}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06594974754418093}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06912361493220899}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06584249018040696}], "left_finger_force_n": 0.4026649075999605, "right_finger_force_n": 0.40549914693145545, "bilateral_contact": true, "supported": false, "lift_m": 0.058380114243494347}, "target_sequence": 8560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 214, "source_target": [0.4220411479473114, -1.505073070526123, 1.4906889200210571, 1.5017775297164917, -1.9856616258621216, 0.0], "source_tool_goal_m": [0.0834009423689615, -0.2398756619246163, 0.08551948184792234], "target_tool_goal_m": [0.23123950353162753, 0.013271034071488861, 0.1613340081974609], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.03469111514074701, "joint2": 1.4686008508162816, "joint3": 1.3803962159061829, "joint4": -1.3455456441345777, "joint5": -0.028706061016561868, "joint6": 0.009354693410133228, "gripper": 0.0}, "target_simulation_time": 17.200000000001346, "target_positions": {"joint1": 0.030327457709319158, "joint2": 1.4724362587711932, "joint3": 1.3818163549083224, "joint4": -1.341119530539144, "joint5": -0.02231493030798595, "joint6": 0.007836348342398462, "gripper": 0.00808012258317775}, "target_object": {"position_m": [0.23421233745879447, 0.011082785930476811, 0.1584618324744128], "quaternion_wxyz": [0.6961678965667295, -0.04937187839096607, -0.06716481090173312, 0.7130228366542946], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06859754748115607}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0654706320614801}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06868393601666611}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06555696861974426}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0687919237091026}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06566489124746243}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06922872782250045}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06610047019971045}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06914230371369832}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06601409778301852}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06903427558687097}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0659061341781566}], "left_finger_force_n": 0.40276589913561156, "right_finger_force_n": 0.40542600928395534, "bilateral_contact": true, "supported": false, "lift_m": 0.05834046344653035}, "target_sequence": 8600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 215, "source_target": [0.409230500459671, -1.5063952207565308, 1.490549921989441, 1.5004557371139526, -1.974061131477356, 0.0], "source_tool_goal_m": [0.08100515770140043, -0.2412163462400395, 0.08579796406240273], "target_tool_goal_m": [0.22911363990712344, 0.01493299475127172, 0.1616124904119413], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.04115764028166302, "joint2": 1.4654635674159242, "joint3": 1.3784447662927828, "joint4": -1.3514526952001207, "joint5": -0.030004755380934722, "joint6": 0.009861477033101548, "gripper": 0.0}, "target_simulation_time": 17.2800000000013, "target_positions": {"joint1": 0.03665794609473105, "joint2": 1.4707960436750522, "joint3": 1.3801850832737803, "joint4": -1.3465495312230282, "joint5": -0.023276698766111388, "joint6": 0.008265817012143347, "gripper": 0.008080146606029313}, "target_object": {"position_m": [0.23238754068718756, 0.012679812278494934, 0.15847214442563076], "quaternion_wxyz": [0.6942216029389204, -0.046935409192250824, -0.06571019807466169, 0.7152171720854164], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06852454463053621}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06554558584344662}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06860545225037079}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0656264472130188}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06870658853063964}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06572752560365303}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06915545572604302}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06617553968640648}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06907452338997142}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06609465296676496}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06897335969925258}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06599354621980963}], "left_finger_force_n": 0.4027361440716651, "right_finger_force_n": 0.4054670776882481, "bilateral_contact": true, "supported": false, "lift_m": 0.0583507753977483}, "target_sequence": 8640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 216, "source_target": [0.39804062247276306, -1.5076863765716553, 1.4933359622955322, 1.5008563995361328, -1.96240234375, 0.0], "source_tool_goal_m": [0.07864456038115884, -0.2417713736541296, 0.08562391819463558], "target_tool_goal_m": [0.2277132786673886, 0.01686169466718219, 0.16143844454417416], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.04847101905426574, "joint2": 1.4650009528158479, "joint3": 1.3770714120038592, "joint4": -1.3554499715132278, "joint5": -0.03172462673312285, "joint6": 0.010493595948284536, "gripper": 0.0}, "target_simulation_time": 17.360000000001257, "target_positions": {"joint1": 0.04358599538394987, "joint2": 1.468866979845923, "joint3": 1.378333282584404, "joint4": -1.3516267751617437, "joint5": -0.02432083004797998, "joint6": 0.008736354649231998, "gripper": 0.008079954785793016}, "target_object": {"position_m": [0.23053658831699625, 0.014404708436667291, 0.15849677373272586], "quaternion_wxyz": [0.6920561332398012, -0.044573368351407634, -0.06440036337369194, 0.7175821322164596], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06843877688659167}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06560867950640759}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06852010082573871}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06568995946770072}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06862175750687458}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06579156110339138}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06909398460675044}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06626294411406623}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0690126348088518}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06618163773052511}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06891094929405217}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06608000641054734}], "left_finger_force_n": 0.40267083529670467, "right_finger_force_n": 0.4055421569647931, "bilateral_contact": true, "supported": false, "lift_m": 0.0583754047048434}, "target_sequence": 8680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 217, "source_target": [0.3883797824382782, -1.508803367614746, 1.492943525314331, 1.4996124505996704, -1.9500465393066406, 0.02324218675494194], "source_tool_goal_m": [0.07684856063398834, -0.24283176328659192, 0.08590194893258687], "target_tool_goal_m": [0.22606945923902405, 0.0180865460396672, 0.16171647528212546], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.05409431634242165, "joint2": 1.4627267041837553, "joint3": 1.3759383232404634, "joint4": -1.360289880375856, "joint5": -0.03190066838554241, "joint6": 0.010733276574180484, "gripper": 0.0012459140225606305}, "target_simulation_time": 17.440000000001213, "target_positions": {"joint1": 0.050254167392871384, "joint2": 1.4672054294362848, "joint3": 1.3770179963127103, "joint4": -1.3559743805125768, "joint5": -0.025319881231147718, "joint6": 0.009168811005357064, "gripper": 0.00809262495724446}, "target_object": {"position_m": [0.22899297164368007, 0.016069456502071505, 0.15858539969780866], "quaternion_wxyz": [0.6899147094135093, -0.04259541965010969, -0.06342848108829627, 0.719847311411619], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05901280174145744}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0563031582892729}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05907073672297623}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05636106754697357}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.05914315620065272}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.056433454835739125}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.059564405794647966}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0568537763328803}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.05950645018248194}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05679584610175742}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.05943400640730954}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.056723434018755264}], "left_finger_force_n": 0.346324375337072, "right_finger_force_n": 0.3488779188378324, "bilateral_contact": true, "supported": false, "lift_m": 0.0584640306699262}, "target_sequence": 8720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 218, "source_target": [0.37423694133758545, -1.5100370645523071, 1.495991826057434, 1.4995323419570923, -1.9365371465682983, 0.0054687499068677425], "source_tool_goal_m": [0.07390502808752179, -0.24359393719849953, 0.08568455201404564], "target_tool_goal_m": [0.2242597607460032, 0.02046488663905703, 0.16149907836358424], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.06291959222148423, "joint2": 1.4616367284241212, "joint3": 1.3737335765692729, "joint4": -1.3648460296758997, "joint5": -0.0344958414986483, "joint6": 0.01158834112040075, "gripper": 0.0002931562450075788}, "target_simulation_time": 17.52000000000117, "target_positions": {"joint1": 0.05744259497685419, "joint2": 1.4655427285589873, "joint3": 1.3755460102307009, "joint4": -1.3602944068270664, "joint5": -0.02642539030037622, "joint6": 0.009673931724899712, "gripper": 0.008086511480248373}, "target_object": {"position_m": [0.22740831815016477, 0.017827030184900488, 0.15864602165706995], "quaternion_wxyz": [0.6876248030222575, -0.040540574594484166, -0.06245053188466694, 0.7222385500286409], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06532236116793178}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06276436235708219}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0654157667700757}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06285772503476163}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06553252593030243}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06297443045374093}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06613095460173085}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0635719627725835}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06603751424986096}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06347856492932427}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06592071594324636}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06336181967279528}], "left_finger_force_n": 0.3848671717138946, "right_finger_force_n": 0.3885015321695412, "bilateral_contact": true, "supported": false, "lift_m": 0.05852465262918749}, "target_sequence": 8760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 219, "source_target": [0.363319456577301, -1.5107786655426025, 1.4985774755477905, 1.4976202249526978, -1.9251704216003418, 0.0027343749534338713], "source_tool_goal_m": [0.07171385372258503, -0.24437918208215076, 0.08546610872651998], "target_tool_goal_m": [0.22271512683109865, 0.022152512668273703, 0.16128063507605855], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.06999867841273547, "joint2": 1.4608069913429265, "joint3": 1.3717977412918871, "joint4": -1.3687076352143537, "joint5": -0.03556619354083903, "joint6": 0.01208421875406003, "gripper": 0.0001465781225037894}, "target_simulation_time": 17.600000000001124, "target_positions": {"joint1": 0.06529757179420792, "joint2": 1.464221422673266, "joint3": 1.3736931695565262, "joint4": -1.3642954657150954, "joint5": -0.02758698311991408, "joint6": 0.010189054761754957, "gripper": 0.008083655268379595}, "target_object": {"position_m": [0.22580888470460284, 0.019734800963779876, 0.1585470834214649], "quaternion_wxyz": [0.6850837540037796, -0.038308287161631274, -0.061341735415738625, 0.7248654472597086], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.066907179637562}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06446424165823994}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06698143775609683}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0645384661463537}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06707426180953305}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06463124811004316}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06755337326207993}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06510964313119846}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06747909195087547}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06503539497918329}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06738624169579972}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06494258612139645}], "left_finger_force_n": 0.39459683511782867, "right_finger_force_n": 0.3975063311405333, "bilateral_contact": true, "supported": false, "lift_m": 0.058425714393582434}, "target_sequence": 8800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 220, "source_target": [0.3501274883747101, -1.5127043724060059, 1.4971895217895508, 1.4982695579528809, -1.9133530855178833, 0.0], "source_tool_goal_m": [0.06913702287768786, -0.2455107290437151, 0.08601462893339844], "target_tool_goal_m": [0.22071001058566822, 0.02405806994991343, 0.161829155282937], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.0780326386889289, "joint2": 1.4573965295008013, "joint3": 1.3706649753159024, "joint4": -1.3743551496393034, "joint5": -0.03693784581172309, "joint6": 0.012650851254291395, "gripper": 0.0}, "target_simulation_time": 17.68000000000108, "target_positions": {"joint1": 0.07317871955540527, "joint2": 1.4627282468760663, "joint3": 1.3719357492679347, "joint4": -1.369737515444141, "joint5": -0.028769595760488296, "joint6": 0.010713124999939547, "gripper": 0.008081327236502234}, "target_object": {"position_m": [0.22386168939272144, 0.021603234813707555, 0.15852445282633593], "quaternion_wxyz": [0.6825592321995794, -0.035681676959194525, -0.05979286320625036, 0.7275056879352209], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06806709159449069}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06574339676877893}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06813481747527851}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06581109355175441}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06821947596246918}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06589571562767421}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06876705713655741}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06644274218881803}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06869931358097757}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06637502720908736}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06861463525107687}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0662903845600047}], "left_finger_force_n": 0.4018715909804459, "right_finger_force_n": 0.40518915992652194, "bilateral_contact": true, "supported": false, "lift_m": 0.058403083798453465}, "target_sequence": 8840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 221, "source_target": [0.3365668058395386, -1.5119004249572754, 1.4974570274353027, 1.5006377696990967, -1.9012702703475952, 0.009570312686264515], "source_tool_goal_m": [0.06627472184319212, -0.2460789241775117, 0.08580596009107051], "target_tool_goal_m": [0.2191070130757906, 0.026436514099249887, 0.1616204864406091], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.08739274067450072, "joint2": 1.457024217042012, "joint3": 1.3690711511052491, "joint4": -1.3784759709545595, "joint5": -0.03928480749873607, "joint6": 0.013485685660163806, "gripper": 0.0005130234474848424}, "target_simulation_time": 17.760000000001035, "target_positions": {"joint1": 0.08177362520904106, "joint2": 1.4609521776668197, "joint3": 1.370293729656383, "joint4": -1.3744518268451114, "joint5": -0.030061778381538073, "joint6": 0.011297114285415197, "gripper": 0.00808511009548689}, "target_object": {"position_m": [0.222048130115362, 0.02363283169123236, 0.15858726553592606], "quaternion_wxyz": [0.6797585553940326, -0.03337112084902157, -0.05866723553014186, 0.7303237844525861], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06412092426270163}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06193023943066567}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06420460963284846}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.062013892263956864}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06430921803093524}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06211845993345426}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06491477830685655}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06272338414357607}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06483106680649146}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06263970468484847}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06472642908834962}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06253510696127304}], "left_finger_force_n": 0.37869734355456214, "right_finger_force_n": 0.38237046999139523, "bilateral_contact": true, "supported": false, "lift_m": 0.0584658965080436}, "target_sequence": 8880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 222, "source_target": [0.3208463191986084, -1.5130314826965332, 1.501943826675415, 1.498624563217163, -1.8851209878921509, 0.0], "source_tool_goal_m": [0.06301244231401583, -0.24687102335363628, 0.08538234625919308], "target_tool_goal_m": [0.2171490321721196, 0.0290923954278319, 0.16119687260873167], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.09789921060138025, "joint2": 1.4564880783536853, "joint3": 1.3663568781056146, "joint4": -1.3828056129544815, "joint5": -0.042049204495695644, "joint6": 0.014460441424818414, "gripper": 0.0}, "target_simulation_time": 17.84000000000099, "target_positions": {"joint1": 0.09167754316795623, "joint2": 1.4596762899784337, "joint3": 1.368503374212843, "joint4": -1.37817696544549, "joint5": -0.0315288040651386, "joint6": 0.011963019223431053, "gripper": 0.00808121058738646}, "target_object": {"position_m": [0.22043189192755158, 0.025971427353354556, 0.15850760390270108], "quaternion_wxyz": [0.6764825933820031, -0.03110386648722598, -0.05775092954703371, 0.7335316492675403], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06772840255392588}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06566571519952483}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06782396508309618}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06576124042618584}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06794342062537026}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06588064926724464}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06852115831211744}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06645786269144306}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06842556912941442}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06636231020687265}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06830608498963452}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06624287186669532}], "left_finger_force_n": 0.40080339315534763, "right_finger_force_n": 0.4043158571961774, "bilateral_contact": true, "supported": false, "lift_m": 0.058386234874818616}, "target_sequence": 8920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 223, "source_target": [0.3089699149131775, -1.5155960321426392, 1.5031688213348389, 1.4983856678009033, -1.8714401721954346, 0.010937499813735485], "source_tool_goal_m": [0.060596288293863286, -0.2476074728125288, 0.08567349087610915], "target_tool_goal_m": [0.2155631106671872, 0.031002492779636594, 0.16148801722564773], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.1067234506113278, "joint2": 1.4543498022265067, "joint3": 1.3653427488582202, "joint4": -1.3868197386308354, "joint5": -0.042795016260723746, "joint6": 0.0149330806972514, "gripper": 0.0005863124900151576}, "target_simulation_time": 17.920000000000947, "target_positions": {"joint1": 0.10173034435445, "joint2": 1.45866926267718, "joint3": 1.3667204127871737, "joint4": -1.3822810462043122, "joint5": -0.03298988402149098, "joint6": 0.012602982695691435, "gripper": 0.008086887036689396}, "target_object": {"position_m": [0.21870723744834977, 0.028321004262841544, 0.15838039552603383], "quaternion_wxyz": [0.6731246808856178, -0.028615923642638288, -0.05656500822205991, 0.7368070933029569], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06352769288509723}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06155326595016624}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06358713722114956}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06161268983916881}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06366144346344878}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06168697049720995}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06414994498296364}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.062175034593758866}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06409048622246168}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.062115595830234585}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06401616357508942}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.062041298153640755}], "left_finger_force_n": 0.37562919985624055, "right_finger_force_n": 0.37858852335814897, "bilateral_contact": true, "supported": false, "lift_m": 0.05825902649815137}, "target_sequence": 8960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 224, "source_target": [0.29338598251342773, -1.5154340267181396, 1.5049418210983276, 1.498276710510254, -1.8563233613967896, 0.0], "source_tool_goal_m": [0.05736391092347801, -0.24835307927986114, 0.08539081771253965], "target_tool_goal_m": [0.21365863723884668, 0.033648942673513864, 0.16120534406207823], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.11783796796301955, "joint2": 1.4536970701583103, "joint3": 1.363074575795088, "joint4": -1.3909832215065796, "joint5": -0.045115920628584036, "joint6": 0.01580012244577051, "gripper": 0.0}, "target_simulation_time": 18.000000000000902, "target_positions": {"joint1": 0.11185430682275113, "joint2": 1.457589037590821, "joint3": 1.3648435727731578, "joint4": -1.386369556265017, "joint5": -0.034512258704061424, "joint6": 0.013279929637212386, "gripper": 0.008082126085256663}, "target_object": {"position_m": [0.2169384214003745, 0.03064872950982149, 0.15825525815674063], "quaternion_wxyz": [0.6697488994361532, -0.026122956324472174, -0.05537627486102132, 0.7400590996936992], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06756560485064106}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06570390788679267}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0676411176665196}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06577939512385299}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06773551005776611}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06587375550348883}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06839300140731533}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06653078563472482}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06831746796858619}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06645527732975273}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06822305251583256}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06636089325610943}], "left_finger_force_n": 0.40029929108906126, "right_finger_force_n": 0.40428047811232104, "bilateral_contact": true, "supported": false, "lift_m": 0.05813388912885817}, "target_sequence": 9000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 225, "source_target": [0.28034737706184387, -1.5189169645309448, 1.5079704523086548, 1.4970698356628418, -1.8414849042892456, 0.0], "source_tool_goal_m": [0.05467207358645031, -0.24900993244894068, 0.08559450048135221], "target_tool_goal_m": [0.2120400735639706, 0.03583917727814841, 0.1614090268308908], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.1276638528839265, "joint2": 1.452069771169026, "joint3": 1.3620835931107709, "joint4": -1.3949333957704015, "joint5": -0.04651067649257091, "joint6": 0.01644228013723724, "gripper": 0.0}, "target_simulation_time": 18.080000000000858, "target_positions": {"joint1": 0.12222230669776006, "joint2": 1.4564937502414428, "joint3": 1.3632161495344137, "joint4": -1.3904797943223486, "joint5": -0.036045594664974576, "joint6": 0.013956362711825602, "gripper": 0.00808106147772947}, "target_object": {"position_m": [0.2151767568674186, 0.033010356362990656, 0.1581922140854923], "quaternion_wxyz": [0.6662501861276661, -0.023700446553394146, -0.05425006725229258, 0.7433746757329991], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06781381417125991}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06604287218537146}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06787664150069343}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06610567952742018}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.067955176578423}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06618418959691574}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06859318162507642}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06682177883576017}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0685303378779675}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06675895470626213}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06845178409192625}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06668042541822285}], "left_finger_force_n": 0.4019783735600837, "right_finger_force_n": 0.4058364625552153, "bilateral_contact": true, "supported": false, "lift_m": 0.05807084505760984}, "target_sequence": 9040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 226, "source_target": [0.26169493794441223, -1.518727421760559, 1.511277675628662, 1.495216965675354, -1.8279460668563843, 0.0], "source_tool_goal_m": [0.05080809198230115, -0.24985036935635604, 0.08510179272607638], "target_tool_goal_m": [0.20980956789124186, 0.039022074020695754, 0.16091631907561496], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.14065471166960533, "joint2": 1.4518008785161614, "joint3": 1.3591115430415672, "joint4": -1.399316921613401, "joint5": -0.050089104614956304, "joint6": 0.017659877826830327, "gripper": 0.0}, "target_simulation_time": 18.160000000000814, "target_positions": {"joint1": 0.13356224249785154, "joint2": 1.4553686005680488, "joint3": 1.3612989493649195, "joint4": -1.3945140079841745, "joint5": -0.03810434392075174, "joint6": 0.014734097288819085, "gripper": 0.008081024133842986}, "target_object": {"position_m": [0.2133116038973092, 0.035620288906922176, 0.15808370328283503], "quaternion_wxyz": [0.6624213491580063, -0.02102654768845073, -0.053228710558442, 0.7469421295149161], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06799046251745208}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06633929835662752}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06779719905913704}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06614610622798715}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06755563282248789}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06590462883844733}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06839739102896253}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0667467746746671}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06859058412882259}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0669399004805671}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06883208792162296}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06718131984158478}], "left_finger_force_n": 0.401733327822139, "right_finger_force_n": 0.40668805807622704, "bilateral_contact": true, "supported": false, "lift_m": 0.05796233425495256}, "target_sequence": 9080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 227, "source_target": [0.24939271807670593, -1.5210641622543335, 1.51081120967865, 1.4928522109985352, -1.8101420402526855, 0.0], "source_tool_goal_m": [0.04841087953589151, -0.2510185352248032, 0.0856263075626823], "target_tool_goal_m": [0.20783953404100886, 0.040750904261510554, 0.1614408339122209], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.14971693842805978, "joint2": 1.4488775057152994, "joint3": 1.3582555831227319, "joint4": -1.4044800159452067, "joint5": -0.050518682514556136, "joint6": 0.018000452914121765, "gripper": 0.0}, "target_simulation_time": 18.24000000000077, "target_positions": {"joint1": 0.14485287618526863, "joint2": 1.45401672478915, "joint3": 1.3594424529256837, "joint4": -1.3999123472908863, "joint5": -0.03992502281124985, "joint6": 0.015442757217611664, "gripper": 0.008081240557585866}, "target_object": {"position_m": [0.21108829880041238, 0.038114780691123534, 0.1580611718701537], "quaternion_wxyz": [0.6585647501260151, -0.01809107996713599, -0.05167969056281006, 0.7505294080183768], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06786968694306283}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06627633199053486}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0678512888800339}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06625794279726309}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06782829151632687}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06623495651569794}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06846158641393128}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06686828731254148}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06847998005670793}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0668866724010401}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06850297231870624}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06690965396514877}], "left_finger_force_n": 0.40231849864291946, "right_finger_force_n": 0.4061091524680758, "bilateral_contact": true, "supported": false, "lift_m": 0.05793980284227124}, "target_sequence": 9120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 228, "source_target": [0.2326916605234146, -1.5224637985229492, 1.5135866403579712, 1.4937095642089844, -1.7964162826538086, 0.0], "source_tool_goal_m": [0.044855321531763456, -0.25138231205493905, 0.08546492676302264], "target_tool_goal_m": [0.20615831179024172, 0.04383542436439265, 0.16127945311256123], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.16264791902247572, "joint2": 1.4488633953489933, "joint3": 1.3570099246677492, "joint4": -1.407873530573887, "joint5": -0.053719204377384346, "joint6": 0.019079937175583133, "gripper": 0.0}, "target_simulation_time": 18.320000000000725, "target_positions": {"joint1": 0.15601415230398133, "joint2": 1.452560631619997, "joint3": 1.3580268814214667, "joint4": -1.4037756521982612, "joint5": -0.041965511855983934, "joint6": 0.016209900541732394, "gripper": 0.008080946984138873}, "target_object": {"position_m": [0.2092757680468197, 0.04062480406347619, 0.15813389792333069], "quaternion_wxyz": [0.6547308866392778, -0.01575311128251795, -0.05093978305481516, 0.7539790740251315], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06776586044267766}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06628184889198573}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06764154657426973}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06615757775930518}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0674861600769085}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0660022445543097}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06845722408998586}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0669733979146325}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06858151665593669}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06709764954883975}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0687368879810781}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06725296958216714}], "left_finger_force_n": 0.4013352382994565, "right_finger_force_n": 0.40709964577264, "bilateral_contact": true, "supported": false, "lift_m": 0.05801252889544822}, "target_sequence": 9160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 229, "source_target": [0.21689456701278687, -1.5236666202545166, 1.517789602279663, 1.4920740127563477, -1.7791134119033813, 0.0], "source_tool_goal_m": [0.041523616838659315, -0.25182049510036275, 0.08508975175029239], "target_tool_goal_m": [0.20449473511646085, 0.04668875924295977, 0.160904278099831], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.1748524659686856, "joint2": 1.4489573765871728, "joint3": 1.354987284636861, "joint4": -1.4105162808310665, "joint5": -0.056628226397106, "joint6": 0.020080470382702817, "gripper": 0.0}, "target_simulation_time": 18.40000000000068, "target_positions": {"joint1": 0.168210931351933, "joint2": 1.451821993049798, "joint3": 1.356811186767875, "joint4": -1.4057056204867306, "joint5": -0.04449256081787244, "joint6": 0.017030738074568123, "gripper": 0.008081234867873772}, "target_object": {"position_m": [0.2079322900109505, 0.043494137252887984, 0.158075938397791], "quaternion_wxyz": [0.6504599285551775, -0.013682438493746523, -0.05090408199977799, 0.7577093418037147], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06784836938371787}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06645498320701904}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06762759883476656}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0662342806884886}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06735165246094392}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06595841900774675}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0682737415738182}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06688051109750252}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06849448714686443}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0671011913834298}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06877043533968345}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06737705762286558}], "left_finger_force_n": 0.40147530358268274, "right_finger_force_n": 0.40689742416416397, "bilateral_contact": true, "supported": false, "lift_m": 0.05795456936990853}, "target_sequence": 9200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 230, "source_target": [0.20087189972400665, -1.5252236127853394, 1.5150446891784668, 1.4964420795440674, -1.7645847797393799, 0.0], "source_tool_goal_m": [0.038165853747685365, -0.2523113226521133, 0.08572556245312409], "target_tool_goal_m": [0.2027735359542872, 0.049545703192963246, 0.16154008880266268], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.18731776126689154, "joint2": 1.4461154594029648, "joint3": 1.3547870859918723, "joint4": -1.4139893302182696, "joint5": -0.059458398266285475, "joint6": 0.02097529970139986, "gripper": 0.0}, "target_simulation_time": 18.480000000000636, "target_positions": {"joint1": 0.1808339177297432, "joint2": 1.4511317213371926, "joint3": 1.3558583376273523, "joint4": -1.4088720718864118, "joint5": -0.047256344565458734, "joint6": 0.017870719422612143, "gripper": 0.008081219331749457}, "target_object": {"position_m": [0.20629273684339264, 0.04642682889860839, 0.15809470674215428], "quaternion_wxyz": [0.6460289153835314, -0.011184783065134244, -0.05052489268104399, 0.7615568109706152], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06776999067017282}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06645721133039038}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06756515882717863}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06625243936003523}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0673091336683834}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06599648875892601}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0682665234243358}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0669539166266464}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06847132651819507}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0671586623572091}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06872734449439025}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06741460834656823}], "left_finger_force_n": 0.40135042261508647, "right_finger_force_n": 0.40699238176734487, "bilateral_contact": true, "supported": false, "lift_m": 0.05797333771427182}, "target_sequence": 9240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 231, "source_target": [0.18425041437149048, -1.5247416496276855, 1.5218212604522705, 1.493304967880249, -1.7490811347961426, 0.0], "source_tool_goal_m": [0.034621951971390924, -0.25246295804734303, 0.08468731659220492], "target_tool_goal_m": [0.2012890314766267, 0.05270029434049597, 0.16050184294174352], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.2006965006652016, "joint2": 1.4485990700757871, "joint3": 1.3519780381277402, "joint4": -1.415125076861701, "joint5": -0.06280047421074281, "joint6": 0.021975081208700228, "gripper": 0.0}, "target_simulation_time": 18.560000000000592, "target_positions": {"joint1": 0.1938454291245568, "joint2": 1.4505895390355978, "joint3": 1.3542830858601773, "joint4": -1.4103945116227918, "joint5": -0.050282142281128525, "joint6": 0.018742521058790994, "gripper": 0.00808111516032112}, "target_object": {"position_m": [0.20484711633067404, 0.04949787104230313, 0.15792292667488175], "quaternion_wxyz": [0.6414172861921085, -0.008857291129776219, -0.05053830612884642, 0.7654745541044589], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06766472832690952}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06643346344375224}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06746654319350144}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0662353328772119}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06721882564658994}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06598768328610244}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06828287864094051}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06705162549083364}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06848106180971167}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06724975589440634}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06872880425299314}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06749743212869193}], "left_finger_force_n": 0.4010065767740675, "right_finger_force_n": 0.40729155821757723, "bilateral_contact": true, "supported": false, "lift_m": 0.05780155764699929}, "target_sequence": 9280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 232, "source_target": [0.1698976755142212, -1.526292085647583, 1.5202813148498535, 1.4929943084716797, -1.732157826423645, 0.0], "source_tool_goal_m": [0.03169834694958055, -0.253324719623501, 0.0852008345356887], "target_tool_goal_m": [0.19939664029200632, 0.05502271849526981, 0.16101536088522728], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.212022717949522, "joint2": 1.445668415439738, "joint3": 1.3511396342752173, "joint4": -1.4187750250350812, "joint5": -0.06458232483766045, "joint6": 0.02250769869714703, "gripper": 0.0}, "target_simulation_time": 18.640000000000548, "target_positions": {"joint1": 0.20640640833687646, "joint2": 1.4502697066503392, "joint3": 1.3526721826690902, "joint4": -1.4135615090091351, "joint5": -0.05290321571404438, "joint6": 0.019553054350876023, "gripper": 0.0080812464525518}, "target_object": {"position_m": [0.20301977688161388, 0.05231295438727602, 0.15773398231459204], "quaternion_wxyz": [0.6369667259615094, -0.006109889449221766, -0.04966126968766778, 0.7692657652344876], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06744079801365348}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06626402944429571}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06741423678730621}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06623747815571944}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0673810357455168}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06620428952756989}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0684549105506811}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0672781014824484}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06848146776095797}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06730464905066197}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06851466475321555}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06733783398178612}], "left_finger_force_n": 0.40094186767406154, "right_finger_force_n": 0.4073716275797511, "bilateral_contact": true, "supported": false, "lift_m": 0.05761261328670958}, "target_sequence": 9320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 233, "source_target": [0.15431948006153107, -1.5270692110061646, 1.5208353996276855, 1.4934325218200684, -1.7155994176864624, 0.0], "source_tool_goal_m": [0.028433987823260568, -0.253740409386811, 0.08525938699096794], "target_tool_goal_m": [0.19777905025618392, 0.05782356051016492, 0.16107391334050652], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.22462115950947956, "joint2": 1.4451453156414908, "joint3": 1.3504110746539495, "joint4": -1.4214421406808464, "joint5": -0.06733664695873065, "joint6": 0.02335400644014392, "gripper": 0.0}, "target_simulation_time": 18.720000000000503, "target_positions": {"joint1": 0.2183990981188371, "joint2": 1.4495056743049801, "joint3": 1.351345881981824, "joint4": -1.4168622970068945, "joint5": -0.0553944497453473, "joint6": 0.020361083053642162, "gripper": 0.008080925989677142}, "target_object": {"position_m": [0.20117706998344198, 0.05494183549278661, 0.1577004644158322], "quaternion_wxyz": [0.6327139289333776, -0.0036043296245358413, -0.0489139823411645, 0.772830845187467], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06721589453258045}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06611624376108852}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06723909991642303}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06613944782094817}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06726810663923019}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06616845288888273}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06860489019994587}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06750514807739724}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06858167821686474}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06748193734016196}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06855266323139422}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06745292391213203}], "left_finger_force_n": 0.4001472455591531, "right_finger_force_n": 0.40817924097789604, "bilateral_contact": true, "supported": false, "lift_m": 0.057579095387949725}, "target_sequence": 9360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 234, "source_target": [0.13816377520561218, -1.5283361673355103, 1.522077202796936, 1.4914731979370117, -1.6999621391296387, 0.0], "source_tool_goal_m": [0.025083190525955867, -0.25439191643800274, 0.08533391583886019], "target_tool_goal_m": [0.19591485729893274, 0.060613115248537665, 0.16114844218839877], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.2372360235339968, "joint2": 1.4442923110307206, "joint3": 1.3493870505581937, "joint4": -1.424610783189016, "joint5": -0.07040934928046785, "joint6": 0.02431560850589986, "gripper": 0.0}, "target_simulation_time": 18.80000000000046, "target_positions": {"joint1": 0.23069824684427676, "joint2": 1.4485606634612287, "joint3": 1.3504992549318766, "joint4": -1.4197387526405418, "joint5": -0.05811477375758517, "joint6": 0.021198791468085183, "gripper": 0.008080904068844773}, "target_object": {"position_m": [0.1994704013274837, 0.057676693855397566, 0.15780148115536077], "quaternion_wxyz": [0.6283082616693801, -0.0013531552165496393, -0.04864673535336268, 0.7764408492785674], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0671614234829075}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06614145336819965}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06715039034233397}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06613042657956744}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06713659916740554}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06611664334072379}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06857491557119318}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06755485990365193}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06858594428153923}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06756588240963926}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06859973041752288}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06757966078634516}], "left_finger_force_n": 0.3998369362811379, "right_finger_force_n": 0.4084609933698916, "bilateral_contact": true, "supported": false, "lift_m": 0.05768011212747831}, "target_sequence": 9400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 235, "source_target": [0.12088443338871002, -1.528826355934143, 1.5236551761627197, 1.4924651384353638, -1.6826688051223755, 0.0], "source_tool_goal_m": [0.021421262450066703, -0.2545035628810194, 0.08518344050486584], "target_tool_goal_m": [0.19442173663551748, 0.06388988670595468, 0.16099796685440443], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.2510565676948163, "joint2": 1.444613243266119, "joint3": 1.3485506263030789, "joint4": -1.4260171218717308, "joint5": -0.07440113793340936, "joint6": 0.02549569680196042, "gripper": 0.0}, "target_simulation_time": 18.880000000000415, "target_positions": {"joint1": 0.24383396647034092, "joint2": 1.4478522282887984, "joint3": 1.3498538308941634, "joint4": -1.421253646213692, "joint5": -0.061415286779177757, "joint6": 0.02210502920507472, "gripper": 0.008080744785862626}, "target_object": {"position_m": [0.1980230764208735, 0.06072771000414558, 0.15787456121592935], "quaternion_wxyz": [0.6235492456811444, 0.0007420779448385115, -0.04905057192649677, 0.780243442090021], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06714386755708494}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06621146270641876}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0670590653050121}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06612668082290006}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06695306583447656}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06602070676640759}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06849371194838245}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0675611427008205}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0685785263799829}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06764593716555801}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06868454771254137}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06775193349294023}], "left_finger_force_n": 0.3995148489923, "right_finger_force_n": 0.40871579940022545, "bilateral_contact": true, "supported": false, "lift_m": 0.05775319218804689}, "target_sequence": 9440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 236, "source_target": [0.10473574697971344, -1.5300853252410889, 1.5250866413116455, 1.492239236831665, -1.66645348072052, 0.0054687499068677425], "source_tool_goal_m": [0.018024980392697433, -0.25475647328549245, 0.08520728680663996], "target_tool_goal_m": [0.19290154669079512, 0.06687217852865793, 0.16102181315617853], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.2641979704641798, "joint2": 1.444087592728746, "joint3": 1.3477857736108194, "joint4": -1.4274270434631873, "joint5": -0.07773519219206053, "joint6": 0.026410295638021133, "gripper": 0.0002931562450075788}, "target_simulation_time": 18.96000000000037, "target_positions": {"joint1": 0.2574777389459086, "joint2": 1.4475833278700485, "joint3": 1.3492858484343129, "joint4": -1.4222459940835865, "joint5": -0.0649171380714635, "joint6": 0.023020730526986978, "gripper": 0.008083617875280433}, "target_object": {"position_m": [0.1966562089078383, 0.06393730214603242, 0.15787140082520906], "quaternion_wxyz": [0.6185537089871869, 0.002882636515810583, -0.04956056086162992, 0.7841726533818903], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06478410930515431}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06391810788055609}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0647690074651202}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06390301214752353}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06475013050437523}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06388414281596239}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06629073302833703}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06542444458297406}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06630583857517214}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06543954406940378}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0663247208480366}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06545841876219036}], "left_finger_force_n": 0.38600851011869175, "right_finger_force_n": 0.39524369986611396, "bilateral_contact": true, "supported": false, "lift_m": 0.0577500317973266}, "target_sequence": 9480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 237, "source_target": [0.0878664180636406, -1.5304292440414429, 1.5269831418991089, 1.4922531843185425, -1.650286316871643, 0.0], "source_tool_goal_m": [0.014464177021768944, -0.25483028759620413, 0.08499532129604749], "target_tool_goal_m": [0.19148115563063617, 0.0700716697653797, 0.1608098476455861], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.27803709000685356, "joint2": 1.4444778539267364, "joint3": 1.3468176338793427, "joint4": -1.4279915894107476, "joint5": -0.08139166887992356, "joint6": 0.027368091459184188, "gripper": 0.0}, "target_simulation_time": 19.040000000000326, "target_positions": {"joint1": 0.27116599498799726, "joint2": 1.447507715392825, "joint3": 1.3484599476603125, "joint4": -1.4231111110921968, "joint5": -0.06847264575665274, "joint6": 0.023943657021706737, "gripper": 0.008081441883561875}, "target_object": {"position_m": [0.19522342180583446, 0.067132160736565, 0.1577755162628676], "quaternion_wxyz": [0.6135269237158208, 0.00514922279626628, -0.049928323799976145, 0.7880770024958986], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06669136128706091}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06589306138621845}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06674872518940085}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06595041947680351}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0668204304219271}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0660221174404129}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06851690351785183}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06771829449261506}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06845951743488295}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06766091415285548}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06838778518064949}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0675891890733201}], "left_finger_force_n": 0.3981261152018237, "right_finger_force_n": 0.4083326038521749, "bilateral_contact": true, "supported": false, "lift_m": 0.05765414723498513}, "target_sequence": 9520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 238, "source_target": [0.06805604696273804, -1.5317888259887695, 1.5286674499511719, 1.4920475482940674, -1.630487084388733, 0.0], "source_tool_goal_m": [0.010297227126324734, -0.25498742590946005, 0.08500065231022617], "target_tool_goal_m": [0.189754838523, 0.07378890639641944, 0.16081517865976475], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.29353524645986534, "joint2": 1.4442267185738062, "joint3": 1.3461225910918655, "joint4": -1.4289553861095232, "joint5": -0.08643677470378523, "joint6": 0.02868493419589979, "gripper": 0.0}, "target_simulation_time": 19.12000000000028, "target_positions": {"joint1": 0.2856561900857864, "joint2": 1.447442547787432, "joint3": 1.347522320719643, "joint4": -1.4239891575410528, "joint5": -0.0726450934850583, "joint6": 0.02494177398425532, "gripper": 0.00808049878881202}, "target_object": {"position_m": [0.19363009404058104, 0.07054208464748993, 0.1576624354764048], "quaternion_wxyz": [0.6081930057806784, 0.007732038585827469, -0.05038330433503202, 0.7921508732199025], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06675472779187873}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06604193664830256}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06674122846467287}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06602844295143077}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06672435470885538}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06601157622915521}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06861133069402105}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06789828553045828}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06862483418274751}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06791178341211285}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06864171394899446}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06792865616516425}], "left_finger_force_n": 0.39830226679429553, "right_finger_force_n": 0.4096166039334984, "bilateral_contact": true, "supported": false, "lift_m": 0.05754106644852233}, "target_sequence": 9560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 239, "source_target": [0.055232275277376175, -1.5330735445022583, 1.5302053689956665, 1.4916768074035645, -1.6166713237762451, 0.0], "source_tool_goal_m": [0.007599473197451487, -0.2550335226370319, 0.08501393959855291], "target_tool_goal_m": [0.1886876217892985, 0.07621665644088205, 0.1608284659480915], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.30506782006837097, "joint2": 1.4441887289936124, "joint3": 1.3459334028549057, "joint4": -1.4291696468133008, "joint5": -0.08828241407610148, "joint6": 0.029067429085783397, "gripper": 0.0}, "target_simulation_time": 19.200000000000237, "target_positions": {"joint1": 0.2995580437037232, "joint2": 1.447381678128597, "joint3": 1.3469502517980723, "joint4": -1.4247896409623528, "joint5": -0.07608506011839987, "joint6": 0.025832206876397465, "gripper": 0.008080676154457279}, "target_object": {"position_m": [0.19214019616605255, 0.0737352920390297, 0.15761808523103604], "quaternion_wxyz": [0.6029901659474003, 0.009891611884495827, -0.05076743797026323, 0.7960701495640868], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06646406113465708}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0657796752176692}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0667499641398446}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06606554126543415}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06710736378826304}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06642289450013046}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06890556917854548}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06822073084694853}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06861949479624317}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06793469376662958}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0682619227983547}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06757716817917962}], "left_finger_force_n": 0.3985895000459985, "right_finger_force_n": 0.4095195795659011, "bilateral_contact": true, "supported": false, "lift_m": 0.05749671620315358}, "target_sequence": 9600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 240, "source_target": [0.038668595254421234, -1.534863829612732, 1.5316493511199951, 1.4910691976547241, -1.5991657972335815, 0.0027343749534338713], "source_tool_goal_m": [0.004120856652611271, -0.2551429804983162, 0.08513568808078824], "target_tool_goal_m": [0.18726616280937247, 0.07932810434861037, 0.1609502144303268], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.3188729964307598, "joint2": 1.4439143065117541, "joint3": 1.3458867276844089, "joint4": -1.4297790406527113, "joint5": -0.09169187367696613, "joint6": 0.029949721910313212, "gripper": 0.0001465781225037894}, "target_simulation_time": 19.280000000000193, "target_positions": {"joint1": 0.31235361318382643, "joint2": 1.4473126185713783, "joint3": 1.3468103582047726, "joint4": -1.4255438253632238, "joint5": -0.07915097801710913, "joint6": 0.026703914217509468, "gripper": 0.008081729210113558}, "target_object": {"position_m": [0.1908054103535698, 0.07664801670893184, 0.15766592728925882], "quaternion_wxyz": [0.598210161880073, 0.011729875905008421, -0.05122127006222914, 0.7996145282121132], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06499890352884284}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06438756644208267}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06538600535777925}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06477462372991112}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06586992101150274}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06525848334506097}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0680604803393225}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06744873774126796}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06767315274373976}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06706145505285106}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06718903166284135}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06657738974357678}], "left_finger_force_n": 0.3906755034151796, "right_finger_force_n": 0.4040102472835994, "bilateral_contact": true, "supported": false, "lift_m": 0.05754455826137636}, "target_sequence": 9640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 241, "source_target": [0.022796571254730225, -1.536313772201538, 1.5323947668075562, 1.4907890558242798, -1.5832103490829468, 0.0], "source_tool_goal_m": [0.0007880219845196271, -0.25522851685432535, 0.08529470049891133], "target_tool_goal_m": [0.18592179918592033, 0.0823165067972533, 0.16110922684844992], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.33201105662579056, "joint2": 1.4437464008575065, "joint3": 1.346110557272746, "joint4": -1.43034316750567, "joint5": -0.09506776531265966, "joint6": 0.030903786145990653, "gripper": 0.0}, "target_simulation_time": 19.36000000000015, "target_positions": {"joint1": 0.325331254848864, "joint2": 1.4472366907993333, "joint3": 1.3467356937118184, "joint4": -1.426257149648255, "joint5": -0.08233125243440968, "joint6": 0.027590737752389776, "gripper": 0.008080687405526117}, "target_object": {"position_m": [0.18943138308038282, 0.07959601087200882, 0.15773250261386046], "quaternion_wxyz": [0.5933394191160044, 0.013592278022319085, -0.05173290587808567, 0.8031732628459787], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06596228103004655}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06542054670945535}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.066343457525818}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06580168397931599}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0668199653660359}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06627814247897662}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06913430350272658}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06859220796566949}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0687529039142424}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06821084792712877}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06827619170157294}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06773418484366854}], "left_finger_force_n": 0.3966260770896484, "right_finger_force_n": 0.4107006398550087, "bilateral_contact": true, "supported": false, "lift_m": 0.057611133585978}, "target_sequence": 9680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 242, "source_target": [0.007455999497324228, -1.538071870803833, 1.533575177192688, 1.4915275573730469, -1.5659691095352173, 0.0013671874767169356], "source_tool_goal_m": [-0.002435315369831722, -0.25506086689357765, 0.08543220226383368], "target_tool_goal_m": [0.18484854688242058, 0.08530189756314606, 0.16124672861337225], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.3449246978369612, "joint2": 1.4439965977269664, "joint3": 1.3467273061842, "joint4": -1.4300871783043467, "joint5": -0.09824287169565085, "joint6": 0.03179347297658525, "gripper": 7.32890612518947e-05}, "target_simulation_time": 19.440000000000104, "target_positions": {"joint1": 0.3383990791165043, "joint2": 1.4471694568173799, "joint3": 1.3466844519144574, "joint4": -1.426826704804942, "joint5": -0.0855518346562518, "joint6": 0.028479522788666823, "gripper": 0.008081040570161176}, "target_object": {"position_m": [0.18803982730072613, 0.08256006911301274, 0.15780077062011333], "quaternion_wxyz": [0.5884034676832209, 0.015437482116717126, -0.05229586423610258, 0.8067268347762188], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06533505442789755}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06485780517775004}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06575581736117932}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06527853001115522}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06628181644636967}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06580448113671153}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06869268375659106}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06821508211033224}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06827164845210512}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06779408541518982}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06774540000144261}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06726788489125285}], "left_finger_force_n": 0.39331350456106334, "right_finger_force_n": 0.4079867846269137, "bilateral_contact": true, "supported": false, "lift_m": 0.05767940159223087}, "target_sequence": 9720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 243, "source_target": [-0.008095821365714073, -1.5389623641967773, 1.5355043411254883, 1.4908840656280518, -1.5495518445968628, 0.0], "source_tool_goal_m": [-0.005697038185065542, -0.25490997323029513, 0.08532072723848926], "target_tool_goal_m": [0.1837455159310763, 0.08831571212288852, 0.16113525358802783], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.357974832097713, "joint2": 1.444895818859659, "joint3": 1.3468154303418618, "joint4": -1.4293992821206585, "joint5": -0.10145400007181662, "joint6": 0.032686158459103457, "gripper": 0.0}, "target_simulation_time": 19.52000000000006, "target_positions": {"joint1": 0.35142966793826125, "joint2": 1.4471305194734743, "joint3": 1.3466408387959095, "joint4": -1.4271950522759167, "joint5": -0.08875442042164505, "joint6": 0.029368314837611792, "gripper": 0.008080337521373975}, "target_object": {"position_m": [0.18665644838445344, 0.08550859393334126, 0.15786087284080527], "quaternion_wxyz": [0.5834560661475189, 0.017231975644959614, -0.05290530527080043, 0.8102364510223156], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06571403783806773}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06530089471194483}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06618362558871294}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06577044519586404}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0667706676012277}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06635744025978818}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06931834485257048}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06890487014989806}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06884842890846699}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06843499211802935}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06826109181022909}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06784770204461238}], "left_finger_force_n": 0.3960971111956054, "right_finger_force_n": 0.41161542988380634, "bilateral_contact": true, "supported": false, "lift_m": 0.05773950381292281}, "target_sequence": 9760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 244, "source_target": [-0.026119815185666084, -1.5400341749191284, 1.536557912826538, 1.4904145002365112, -1.5330504179000854, 0.0], "source_tool_goal_m": [-0.009474281282352842, -0.25479290317813263, 0.08536869735067258], "target_tool_goal_m": [0.1824158742294253, 0.09178394295269789, 0.16118322370021115], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.3724336583972031, "joint2": 1.4453961329701022, "joint3": 1.3471801508815926, "joint4": -1.4287856583341922, "joint5": -0.10583733001771853, "joint6": 0.03389351833443531, "gripper": 0.0}, "target_simulation_time": 19.600000000000016, "target_positions": {"joint1": 0.36504133267036437, "joint2": 1.4471113658951678, "joint3": 1.3466110078008506, "joint4": -1.4273952799726286, "joint5": -0.0924280760116247, "joint6": 0.030317067227889523, "gripper": 0.008079934669564266}, "target_object": {"position_m": [0.1851928566028858, 0.08862796214132138, 0.15792450147943646], "quaternion_wxyz": [0.5782724120869741, 0.01920051375162473, -0.05368250352413859, 0.8138492160751697], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06569225218546719}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0653597426812352}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06609184646571291}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06575931177488992}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0665913791585833}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06625881277892985}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0693166853478093}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06898391287480345}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0689168138214944}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06858406696982582}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06841701465430691}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0680842996236023}], "left_finger_force_n": 0.3957533450448184, "right_finger_force_n": 0.41230279329184216, "bilateral_contact": true, "supported": false, "lift_m": 0.057803132451553996}, "target_sequence": 9800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 245, "source_target": [-0.04065800830721855, -1.5410414934158325, 1.5368977785110474, 1.4911397695541382, -1.5165982246398926, 0.00820312462747097], "source_tool_goal_m": [-0.012514829836063784, -0.25457367002812414, 0.08549510567297343], "target_tool_goal_m": [0.18145885669290962, 0.09462325919552328, 0.16130963202251203], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.3848390535804366, "joint2": 1.4457690202776148, "joint3": 1.3479598200337857, "joint4": -1.4278379012999702, "joint5": -0.10858173141577532, "joint6": 0.034601901191607484, "gripper": 0.0004397343550303153}, "target_simulation_time": 19.67999999999997, "target_positions": {"joint1": 0.3786521748055414, "joint2": 1.4471053883219815, "joint3": 1.3466086237230575, "joint4": -1.4274126404861873, "joint5": -0.09589924813141464, "joint6": 0.031227577481586267, "gripper": 0.008084331203147653}, "target_object": {"position_m": [0.18373300661241979, 0.09172319723700083, 0.15798525280173997], "quaternion_wxyz": [0.5730282243086957, 0.021045963944462048, -0.054461995920482745, 0.8174531255965868], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.062162568386851594}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.061876874324171584}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06270097978426867}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06241525723938556}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0633740664281425}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06308830794151736}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06608159177731446}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06579562653704372}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06554273405388981}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06525679816012733}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06486923575134608}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.064583336201397}], "left_finger_force_n": 0.37561805410433724, "right_finger_force_n": 0.3921293224811184, "bilateral_contact": true, "supported": false, "lift_m": 0.05786388377385751}, "target_sequence": 9840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 246, "source_target": [-0.0589662529528141, -1.542383074760437, 1.5415973663330078, 1.4902509450912476, -1.501554012298584, 0.00820312462747097], "source_tool_goal_m": [-0.016315895545084814, -0.2538662707323876, 0.08505759453080902], "target_tool_goal_m": [0.1806552403144709, 0.09833747115085677, 0.1608721208803476], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.399501695928712, "joint2": 1.4482796513886205, "joint3": 1.348196632309086, "joint4": -1.4246830921932088, "joint5": -0.11288552017673756, "joint6": 0.035752883254538265, "gripper": 0.0004397343550303153}, "target_simulation_time": 19.759999999999927, "target_positions": {"joint1": 0.3922426205151293, "joint2": 1.4471715262054188, "joint3": 1.3466175090949528, "joint4": -1.426948142720714, "joint5": -0.0995473837461538, "joint6": 0.032176588330790984, "gripper": 0.008085314463383354}, "target_object": {"position_m": [0.1823309644318828, 0.09485488035524103, 0.15802517663280713], "quaternion_wxyz": [0.5677850223120752, 0.022861773697216425, -0.05543785498549565, 0.8209897392635919], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061762769297366044}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06155542848702084}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06229769237192235}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06209033105041796}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06296641589035092}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06275902868763726}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06596262981717181}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06575508899632042}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0654272605012447}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06521974084047841}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06475812001615178}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0645506265629793}], "left_finger_force_n": 0.37343166578471537, "right_finger_force_n": 0.39167346673434644, "bilateral_contact": true, "supported": false, "lift_m": 0.05790380760492467}, "target_sequence": 9880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 247, "source_target": [-0.07500113546848297, -1.5445289611816406, 1.5413762331008911, 1.4894702434539795, -1.4846450090408325, 0.0054687499068677425], "source_tool_goal_m": [-0.019676054026868735, -0.25386700753929153, 0.08548958971080768], "target_tool_goal_m": [0.1793773539054057, 0.10138287305524497, 0.16130411606034628], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.4127152731025908, "joint2": 1.447579830775767, "joint3": 1.3493064700865887, "joint4": -1.4241914011744436, "joint5": -0.11630388257102241, "joint6": 0.03664115663973657, "gripper": 0.0002931562450075788}, "target_simulation_time": 19.839999999999883, "target_positions": {"joint1": 0.4060704170092131, "joint2": 1.4472277083623808, "joint3": 1.34666264314638, "joint4": -1.4264190625317292, "joint5": -0.10323399977595064, "joint6": 0.03311960430430523, "gripper": 0.00808428907527092}, "target_object": {"position_m": [0.18087292104538447, 0.09802852687629314, 0.15807513636841777], "quaternion_wxyz": [0.562402220623011, 0.02468618519325492, -0.056448081558464244, 0.8245653088672109], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0627371380134876}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06258685588449844}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06333783216016409}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06318753273536581}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06408879019570368}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06393846892262428}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06712100775863605}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06697056305597719}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06651975821979508}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06636933147810806}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06576828908514563}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0656178845658752}], "left_finger_force_n": 0.3798766179118439, "right_finger_force_n": 0.39836683416353724, "bilateral_contact": true, "supported": false, "lift_m": 0.05795376734053531}, "target_sequence": 9920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 248, "source_target": [-0.09068623185157776, -1.5456855297088623, 1.5432602167129517, 1.4900107383728027, -1.4668176174163818, 0.0], "source_tool_goal_m": [-0.022917447342667114, -0.25328845452929755, 0.08541657067279024], "target_tool_goal_m": [0.17866968513194562, 0.10454081690758468, 0.16123109702232882], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.4256694226387451, "joint2": 1.4488947112908908, "joint3": 1.3502035117789817, "joint4": -1.421459288619809, "joint5": -0.11931581984231018, "joint6": 0.037419657562856305, "gripper": 0.0}, "target_simulation_time": 19.91999999999984, "target_positions": {"joint1": 0.4193822170453241, "joint2": 1.4473767323624904, "joint3": 1.3467410244357467, "joint4": -1.425575971476556, "joint5": -0.10659632476123791, "joint6": 0.03402879106408306, "gripper": 0.008080986940710357}, "target_object": {"position_m": [0.17951469888770866, 0.10107228636056668, 0.15810238531597004], "quaternion_wxyz": [0.5571885444625782, 0.02630835480033131, -0.05746221553424134, 0.8279775903810869], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06479201301205305}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06469643563457236}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06552739561010863}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06543180369409782}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06644676628620037}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0663511559664769}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06963670156519657}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06954100408634692}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0689005580371595}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06880487574836303}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06798052547500877}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06788486194289366}], "left_finger_force_n": 0.39324557020350914, "right_finger_force_n": 0.41274852685496843, "bilateral_contact": true, "supported": false, "lift_m": 0.05798101628808758}, "target_sequence": 9960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 249, "source_target": [-0.11030235141515732, -1.545588731765747, 1.5461907386779785, 1.487864375114441, -1.4504894018173218, 0.0], "source_tool_goal_m": [-0.02698284216503183, -0.25275859555579483, 0.08499915756858176], "target_tool_goal_m": [0.17760467114011702, 0.1084271352153476, 0.16081368391812034], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.44084982444980275, "joint2": 1.4512088645180756, "joint3": 1.3503055480116144, "joint4": -1.4180505591081034, "joint5": -0.12413828877941646, "joint6": 0.03873468674516607, "gripper": 0.0}, "target_simulation_time": 19.999999999999794, "target_positions": {"joint1": 0.4331666751674597, "joint2": 1.448266818571291, "joint3": 1.3468842078067644, "joint4": -1.4225098113303933, "joint5": -0.11043429086655633, "joint6": 0.03501025838615793, "gripper": 0.008079671276719021}, "target_object": {"position_m": [0.17855978234738135, 0.10448932713034023, 0.15795205671874327], "quaternion_wxyz": [0.551745667238666, 0.027756691676586634, -0.05922349043962205, 0.8314438423192982], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06484693896811417}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06483835716007141}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06550999035313854}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06550140622077201}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06633891724465402}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06633033017393784}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06978922682652763}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06978062492178742}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06912539646196261}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06911679701500993}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06829572615156987}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06828712974379544}], "left_finger_force_n": 0.393365940120688, "right_finger_force_n": 0.4143949011206529, "bilateral_contact": true, "supported": false, "lift_m": 0.057830687690860805}, "target_sequence": 10000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 250, "source_target": [-0.1254979372024536, -1.5490258932113647, 1.547182559967041, 1.4868812561035156, -1.4341593980789185, 0.0], "source_tool_goal_m": [-0.0301483678580939, -0.2525087349048887, 0.08548511317607355], "target_tool_goal_m": [0.1766279100423892, 0.11139137373037934, 0.16129963952561213], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.4533662528333154, "joint2": 1.4502859339575829, "joint3": 1.351672947200878, "joint4": -1.4160840033470765, "joint5": -0.12700792515647086, "joint6": 0.039452404270049965, "gripper": 0.0}, "target_simulation_time": 20.07999999999975, "target_positions": {"joint1": 0.44708028642952374, "joint2": 1.4495145042921853, "joint3": 1.3474160186087232, "joint4": -1.4199639719108614, "joint5": -0.1140810745589209, "joint6": 0.035950699481513936, "gripper": 0.008079514087601604}, "target_object": {"position_m": [0.1775298048128294, 0.10790230971854944, 0.15782595485182704], "quaternion_wxyz": [0.5462003087130779, 0.029279760803389766, -0.06071696671785285, 0.83493794279672], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06468538986109923}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06472611367581117}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06550252046395866}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0655432489859402}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06652410957851708}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06656484406799584}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06993887167013406}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0699796445486291}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0691206978736986}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06916146574604806}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06809816506512827}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06813892676339708}], "left_finger_force_n": 0.39354622663332217, "right_finger_force_n": 0.41443777166703516, "bilateral_contact": true, "supported": false, "lift_m": 0.05770458582394458}, "target_sequence": 10040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 251, "source_target": [-0.14248517155647278, -1.5487775802612305, 1.549210548400879, 1.4854570627212524, -1.4170193672180176, 0.0], "source_tool_goal_m": [-0.03365262379644007, -0.25194718871749733, 0.08516477631596445], "target_tool_goal_m": [0.17580491028223688, 0.11478111454251241, 0.16097930266550303], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.46695661069222133, "joint2": 1.4524279327381315, "joint3": 1.3521828562622327, "joint4": -1.4125148565444878, "joint5": -0.1303169058862895, "joint6": 0.04031172761912004, "gripper": 0.0}, "target_simulation_time": 20.159999999999705, "target_positions": {"joint1": 0.4603848450695787, "joint2": 1.4505741094853788, "joint3": 1.3480682938320898, "joint4": -1.4167701917816258, "joint5": -0.11742512064141544, "joint6": 0.03686808331366398, "gripper": 0.008079221380186612}, "target_object": {"position_m": [0.17667443604345226, 0.11121941989154266, 0.15774382844960644], "quaternion_wxyz": [0.5408550838771856, 0.030439502265454187, -0.06251969224112819, 0.8382365436009753], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0644018393917206}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06450109113934545}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06533799075198693}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06543725803556616}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06650841181886197}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0666076988400227}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07017122975344559}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07027062402684185}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06923379969332051}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06933317732891242}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06806225641973794}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06816161357643745}], "left_finger_force_n": 0.3927942899775038, "right_finger_force_n": 0.4152327007986958, "bilateral_contact": true, "supported": false, "lift_m": 0.057622459421723976}, "target_sequence": 10080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 252, "source_target": [-0.15465384721755981, -1.5498497486114502, 1.551910161972046, 1.4868639707565308, -1.4022287130355835, 0.0], "source_tool_goal_m": [-0.036077722137697436, -0.25101836622034907, 0.08494246883067419], "target_tool_goal_m": [0.1757250084919954, 0.11733230005087367, 0.16075699518021278], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.477278955174511, "joint2": 1.4542301748324495, "joint3": 1.3531902722642901, "joint4": -1.4081625692729118, "joint5": -0.1312262503320968, "joint6": 0.04059237713731394, "gripper": 0.0}, "target_simulation_time": 20.23999999999966, "target_positions": {"joint1": 0.47236275882432355, "joint2": 1.452064479027517, "joint3": 1.3490214211343996, "joint4": -1.4122619340446765, "joint5": -0.11976083663549723, "joint6": 0.03766158726666419, "gripper": 0.008079306756650471}, "target_object": {"position_m": [0.17634734769181912, 0.11434086635795285, 0.15758959040023882], "quaternion_wxyz": [0.5359495396409408, 0.03085049332880172, -0.06459201584279445, 0.8412099675523339], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06402036767543666}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06414877067287324}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06526143201505696}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06538986247964605}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0668131781022644}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06694164366162002}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0705332934201817}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07066191702071664}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06929025033280632}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0694188440160926}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06773688931097206}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06786544636066273}], "left_finger_force_n": 0.39257525460689735, "right_finger_force_n": 0.41550664046143204, "bilateral_contact": true, "supported": false, "lift_m": 0.057468221372356354}, "target_sequence": 10120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 253, "source_target": [-0.17166531085968018, -1.5531399250030518, 1.5533339977264404, 1.4853663444519043, -1.3867847919464111, 0.0], "source_tool_goal_m": [-0.03959543692161913, -0.2505642576596105, 0.08534346107879175], "target_tool_goal_m": [0.17479951037303626, 0.12069340234253263, 0.16115798742833032], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.49057456482158823, "joint2": 1.4539992105640855, "joint3": 1.3548048573506075, "joint4": -1.4050953562952697, "joint5": -0.13459794441361483, "joint6": 0.04165122795965118, "gripper": 0.0}, "target_simulation_time": 20.319999999999617, "target_positions": {"joint1": 0.48385970320999894, "joint2": 1.4534110251223191, "joint3": 1.3503522553123704, "joint4": -1.408746755630984, "joint5": -0.12213051704274583, "joint6": 0.03848785809965845, "gripper": 0.008078863704141617}, "target_object": {"position_m": [0.1758972809591933, 0.11730084170746066, 0.1575728310534675], "quaternion_wxyz": [0.5312852451563422, 0.031394841716727406, -0.06648193807853656, 0.8439967441300165], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06385288386955926}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06406874625916652}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06502817540643975}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0652440828914457}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06649765946208554}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06671362448112048}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07061954964000998}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07083574717304784}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06944262614055575}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06965877531395857}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06797186012475115}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06818795001590869}], "left_finger_force_n": 0.39140517236981726, "right_finger_force_n": 0.416716508408232, "bilateral_contact": true, "supported": false, "lift_m": 0.05745146202558504}, "target_sequence": 10160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 254, "source_target": [-0.18603339791297913, -1.5521574020385742, 1.5544037818908691, 1.486976146697998, -1.3726249933242798, 0.0], "source_tool_goal_m": [-0.042461667685830054, -0.2496058436969063, 0.08499272687896058], "target_tool_goal_m": [0.1745787532251153, 0.12365568269754974, 0.16080725322849915], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5017271216296733, "joint2": 1.4566000337208027, "joint3": 1.3558334223728534, "joint4": -1.4003960293995386, "joint5": -0.1365638065124211, "joint6": 0.042380682157691404, "gripper": 0.0}, "target_simulation_time": 20.399999999999572, "target_positions": {"joint1": 0.49574444459369205, "joint2": 1.454532177624675, "joint3": 1.3516382926107398, "joint4": -1.4045504565780553, "joint5": -0.1244900665463169, "joint6": 0.03930293149069274, "gripper": 0.008079078869823344}, "target_object": {"position_m": [0.17546564274115847, 0.12039937470405543, 0.15758123669125462], "quaternion_wxyz": [0.5263879676959428, 0.0317691227842016, -0.06871922090921789, 0.8468672262994285], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06383045227602716}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06409557589549365}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06502590356376552}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06529108408636684}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06652059957231032}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06678585272758092}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07059118612051057}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07085675402568238}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06939394363000476}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06965944998971414}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06789779500732941}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06816322594270645}], "left_finger_force_n": 0.3915494681215444, "right_finger_force_n": 0.4165623547159477, "bilateral_contact": true, "supported": false, "lift_m": 0.05745986766337216}, "target_sequence": 10200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 255, "source_target": [-0.2007405012845993, -1.55436110496521, 1.555217981338501, 1.4837067127227783, -1.3571101427078247, 0.0], "source_tool_goal_m": [-0.045552373028703144, -0.249461243693804, 0.0853142601999603], "target_tool_goal_m": [0.17353502251317615, 0.1265120930114771, 0.1611287865494989], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5137701985227017, "joint2": 1.4562611072079719, "joint3": 1.3569531411910867, "joint4": -1.3980232983012895, "joint5": -0.1389699235048595, "joint6": 0.04319540595350897, "gripper": 0.0}, "target_simulation_time": 20.479999999999528, "target_positions": {"joint1": 0.50754176053617, "joint2": 1.455518367908777, "joint3": 1.352913339717146, "joint4": -1.4016192183859975, "joint5": -0.12681431351599762, "joint6": 0.040114083723373425, "gripper": 0.008078965297393987}, "target_object": {"position_m": [0.17474112166925487, 0.12333777713284937, 0.15764684124462047], "quaternion_wxyz": [0.5215497880368187, 0.032419123614254294, -0.07047467713431452, 0.8496870829344456], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06370892286107445}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06403856993513064}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06492215327188142}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0652518729279714}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06643908518818611}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06676889750837774}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07065377086830435}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0709839417157716}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0694388483604777}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06976894132893605}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06792060902719392}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06825060658767673}], "left_finger_force_n": 0.39112950169262173, "right_finger_force_n": 0.41701671788836037, "bilateral_contact": true, "supported": false, "lift_m": 0.05752547221673801}, "target_sequence": 10240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 256, "source_target": [-0.2160620242357254, -1.5544620752334595, 1.555629014968872, 1.483933925628662, -1.3415584564208984, 0.013671875], "source_tool_goal_m": [-0.04865664215398712, -0.24871265747232194, 0.08527319883774995], "target_tool_goal_m": [0.17303359539508273, 0.12961037685008764, 0.16108772518728853], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5256082776140165, "joint2": 1.4580313373411133, "joint3": 1.3585125535475957, "joint4": -1.3939567053836799, "joint5": -0.1412638302108809, "joint6": 0.04400844833099332, "gripper": 0.000732890625}, "target_simulation_time": 20.559999999999484, "target_positions": {"joint1": 0.519432567725425, "joint2": 1.4562905842199816, "joint3": 1.3541158348249043, "joint4": -1.398326030132504, "joint5": -0.129133426615524, "joint6": 0.04092575850996749, "gripper": 0.008086023239930651}, "target_object": {"position_m": [0.17399218880697895, 0.12631410672558693, 0.15773489113827596], "quaternion_wxyz": [0.5166336992547104, 0.03298800360801736, -0.07241194932601831, 0.8525009806487949], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05805106969631103}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05843616299380677}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05926982595349098}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.059654997947585636}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0607936364434415}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06117890910004971}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06509180289509334}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06547750246053764}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06387135425114318}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06425696840867362}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.062346180759757806}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06273169045438927}], "left_finger_force_n": 0.35738460213468565, "right_finger_force_n": 0.38377549922959486, "bilateral_contact": true, "supported": false, "lift_m": 0.0576135221103935}, "target_sequence": 10280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 257, "source_target": [-0.23148958384990692, -1.5550729036331177, 1.5577611923217773, 1.4859458208084106, -1.3270797729492188, 0.013671875], "source_tool_goal_m": [-0.0516537924536874, -0.2474172944863975, 0.08504271259708591], "target_tool_goal_m": [0.17306848889839932, 0.13281940057133337, 0.16085723894662451], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5369169623045025, "joint2": 1.4607069200224745, "joint3": 1.3602796001061286, "joint4": -1.3880257068885962, "joint5": -0.14306599071842094, "joint6": 0.04470520049172957, "gripper": 0.000732890625}, "target_simulation_time": 20.63999999999944, "target_positions": {"joint1": 0.5310961318830284, "joint2": 1.4578648030519143, "joint3": 1.3558004978345068, "joint4": -1.39229500704289, "joint5": -0.13126703173959026, "joint6": 0.04171526824386887, "gripper": 0.00808823787281192}, "target_object": {"position_m": [0.17393385463137387, 0.12962954728582965, 0.15770922778355795], "quaternion_wxyz": [0.511686345378738, 0.03291596515895686, -0.07535744275781371, 0.855227969030251], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.057490791671579576}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.057928443691034906}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05880832101150249}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05924606786699291}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.060455651296027924}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06089351976975195}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06482564878345125}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06526410741168386}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06350595085872612}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06394430385846782}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06185678305043808}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06229500709713039}], "left_finger_force_n": 0.35482279530688976, "right_finger_force_n": 0.38169180105989753, "bilateral_contact": true, "supported": false, "lift_m": 0.057587858755675486}, "target_sequence": 10320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 258, "source_target": [-0.24383975565433502, -1.5557596683502197, 1.5596611499786377, 1.483281135559082, -1.3113309144973755, 0.0027343749534338713], "source_tool_goal_m": [-0.05418234740447751, -0.2469701646527209, 0.08492414668333106], "target_tool_goal_m": [0.17251265141330507, 0.13528126562614293, 0.16073867303286965], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5471798805667787, "joint2": 1.4614585813536696, "joint3": 1.3606735224260667, "joint4": -1.384053955595538, "joint5": -0.14390939623768118, "joint6": 0.045137523122300675, "gripper": 0.0001465781225037894}, "target_simulation_time": 20.719999999999395, "target_positions": {"joint1": 0.541942838917126, "joint2": 1.459805106066882, "joint3": 1.3572393057916488, "joint4": -1.3871637657873945, "joint5": -0.13296454753687936, "joint6": 0.0424321892688472, "gripper": 0.008082686833329857}, "target_object": {"position_m": [0.1737855466759433, 0.13264346846607447, 0.1575739799216647], "quaternion_wxyz": [0.5070981671186923, 0.03298912696103999, -0.07760504314970393, 0.8577532417222002], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06160329262293701}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06208248458864108}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06313566399747382}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06361498476392498}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06505173514064008}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06553122152057812}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06951002362278871}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06999025956517539}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0679746840666404}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06845477500824207}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06605617407942375}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06653608839993354}], "left_finger_force_n": 0.3810193826341951, "right_finger_force_n": 0.40852200474220385, "bilateral_contact": true, "supported": false, "lift_m": 0.05745261089378223}, "target_sequence": 10360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 259, "source_target": [-0.2568393349647522, -1.5570510625839233, 1.5597494840621948, 1.484344482421875, -1.30066978931427, 0.0], "source_tool_goal_m": [-0.056767352948483014, -0.24616606312214362, 0.08513006381792065], "target_tool_goal_m": [0.17225891947503025, 0.13792998538852758, 0.16094459016745924], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5572182343674553, "joint2": 1.4622539652827728, "joint3": 1.3625447882094566, "joint4": -1.3798443280871073, "joint5": -0.1449566811597729, "joint6": 0.045674953700608666, "gripper": 0.0}, "target_simulation_time": 20.79999999999935, "target_positions": {"joint1": 0.5519815736689465, "joint2": 1.4612762576077813, "joint3": 1.3582346035713058, "joint4": -1.383807953861282, "joint5": -0.13446143449246833, "joint6": 0.04310601450327799, "gripper": 0.008079587252854578}, "target_object": {"position_m": [0.17323959135529515, 0.13519946946462225, 0.15746561063491937], "quaternion_wxyz": [0.5029081708986478, 0.03339753373601249, -0.07901760204103445, 0.8600722033360991], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06292765272079287}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06345256588068787}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06444346938244888}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06496852610095735}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06633884857480866}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06686408967181043}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07096307912388525}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07148911752525419}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06944439299904366}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06997027120621631}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06754669625226124}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06807237916455164}], "left_finger_force_n": 0.38899515233150606, "right_finger_force_n": 0.4174859362712123, "bilateral_contact": true, "supported": false, "lift_m": 0.05734424160703691}, "target_sequence": 10400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 260, "source_target": [-0.2738250195980072, -1.5581680536270142, 1.5612647533416748, 1.4819179773330688, -1.2842097282409668, 0.0013671874767169356], "source_tool_goal_m": [-0.06022155517687108, -0.2454142880866681, 0.08514285823728117], "target_tool_goal_m": [0.17162737083348914, 0.1413466642554981, 0.16095738458681974], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5693779778627136, "joint2": 1.4641865329768435, "joint3": 1.364378373272456, "joint4": -1.3752543360147431, "joint5": -0.14805400510134165, "joint6": 0.04678479472490813, "gripper": 7.32890612518947e-05}, "target_simulation_time": 20.879999999999306, "target_positions": {"joint1": 0.5626876181714193, "joint2": 1.4626100415106889, "joint3": 1.3596239793925011, "joint4": -1.3795701811259946, "joint5": -0.13618014930984337, "joint6": 0.04385754984362738, "gripper": 0.008078832293706846}, "target_object": {"position_m": [0.1727877891528311, 0.1380441767491513, 0.15746313424537653], "quaternion_wxyz": [0.4984056360239725, 0.03362252733907511, -0.08107077625124796, 0.8624899285631638], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06244911778682381}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06305786222753239}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06386365984875542}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06447255946858789}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06563236137093599}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06624145990079851}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07048471616007047}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07109465873784862}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06906773472557498}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06967750616917419}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06729707156536854}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06790663404268202}], "left_finger_force_n": 0.385717020603434, "right_finger_force_n": 0.4155283214007188, "bilateral_contact": true, "supported": false, "lift_m": 0.05734176521749407}, "target_sequence": 10440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 261, "source_target": [-0.28237995505332947, -1.5582506656646729, 1.565887451171875, 1.4803966283798218, -1.2727024555206299, 0.0], "source_tool_goal_m": [-0.06180782605190994, -0.24451087784895179, 0.08449446688114022], "target_tool_goal_m": [0.17184327900379628, 0.14312786861181728, 0.16030899323067882], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5765153080756986, "joint2": 1.467000929124863, "joint3": 1.3645682752044666, "joint4": -1.3704256782205568, "joint5": -0.1468672148157732, "joint6": 0.046771999810089046, "gripper": 0.0}, "target_simulation_time": 20.959999999999262, "target_positions": {"joint1": 0.5725691699189919, "joint2": 1.4643470228771414, "joint3": 1.3609302268577035, "joint4": -1.3742329947120384, "joint5": -0.13763371257968726, "joint6": 0.044475902366973595, "gripper": 0.00807942234245472}, "target_object": {"position_m": [0.17265990747100873, 0.14088652639666815, 0.15734396312427396], "quaternion_wxyz": [0.4941201413123406, 0.03357142944662254, -0.08338300597669775, 0.8647343634831864], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06300899489438534}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0636158193403812}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06450109356918926}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06510808177489406}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0663668045133216}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06697400295889788}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0709740706393851}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07158225983418065}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06947899439439692}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0700869994681106}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06761079262479279}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06821857310930692}], "left_finger_force_n": 0.38957479705106934, "right_finger_force_n": 0.41795169007017297, "bilateral_contact": true, "supported": false, "lift_m": 0.057222594096391494}, "target_sequence": 10480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 262, "source_target": [-0.3023732602596283, -1.5593072175979614, 1.5619404315948486, 1.4795002937316895, -1.2593415975570679, 0.0068359375], "source_tool_goal_m": [-0.0660028908818696, -0.2440035015707188, 0.08528851776313454], "target_tool_goal_m": [0.17070859803607222, 0.14712317531713395, 0.16110304411267312], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5905491124329835, "joint2": 1.466570679915788, "joint3": 1.3674514889206035, "joint4": -1.3661205287632785, "joint5": -0.15151728763835817, "joint6": 0.04823019300432981, "gripper": 0.0003664453125}, "target_simulation_time": 21.039999999999218, "target_positions": {"joint1": 0.5829648201651405, "joint2": 1.4660723920983536, "joint3": 1.3625454853218133, "joint4": -1.369956269571141, "joint5": -0.1393017657519812, "joint6": 0.04523112736311361, "gripper": 0.008080683890646893}, "target_object": {"position_m": [0.1722562470731539, 0.14372884855598725, 0.15731709905691277], "quaternion_wxyz": [0.4897412192556168, 0.03382853414860123, -0.08538312289200331, 0.8670172378704987], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05996390159477306}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06069040681036524}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.061414623755033926}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.062141312420571096}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06322855611711778}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06395548028238822}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06838870108822613}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06911666118654652}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06693543488862183}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06766319085798375}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06511942629795547}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06584693331332558}], "left_finger_force_n": 0.3713942809802493, "right_finger_force_n": 0.4030703476326593, "bilateral_contact": true, "supported": false, "lift_m": 0.057195730029030306}, "target_sequence": 10520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 263, "source_target": [-0.31274399161338806, -1.560132384300232, 1.5611001253128052, 1.485306978225708, -1.2425448894500732, 0.01640624925494194], "source_tool_goal_m": [-0.06783728086329587, -0.24268499743155897, 0.08548341364015019], "target_tool_goal_m": [0.17120643983800365, 0.1492870573151693, 0.16129793998968878], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.5977938283623597, "joint2": 1.468121606153406, "joint3": 1.3701152710502764, "joint4": -1.3611239457259516, "joint5": -0.15085555957148927, "joint6": 0.0483737488037896, "gripper": 0.0008794687100606306}, "target_simulation_time": 21.119999999999173, "target_positions": {"joint1": 0.5934942788866081, "joint2": 1.467255846789662, "joint3": 1.3648412414410354, "joint4": -1.3653457041006842, "joint5": -0.14083569956410677, "joint6": 0.045894026963438646, "gripper": 0.008088167619213257}, "target_object": {"position_m": [0.1719372105682893, 0.14671163859846004, 0.1575556990994301], "quaternion_wxyz": [0.4851279649282962, 0.0337241702697385, -0.08803270489738813, 0.8693467552436132], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.055978858502190455}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.056707909321229606}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.057507099869874824}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.058236331893895266}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.059417954028751926}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0601474195623365}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06415364462617967}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06488426268933113}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06262248844373804}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06335289911953565}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06070915706639046}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.061439315537911474}], "left_finger_force_n": 0.34799557317827856, "right_finger_force_n": 0.37716176748308644, "bilateral_contact": true, "supported": false, "lift_m": 0.057434330071547635}, "target_sequence": 10560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 264, "source_target": [-0.32544171810150146, -1.5619059801101685, 1.565828561782837, 1.4817254543304443, -1.2315118312835693, 0.0], "source_tool_goal_m": [-0.07031008522435543, -0.24176620776370022, 0.0851487776085777], "target_tool_goal_m": [0.17109931081378776, 0.15187767050210435, 0.16096330395811628], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6071173871159736, "joint2": 1.4707375674368064, "joint3": 1.371295887672282, "joint4": -1.3559330920807513, "joint5": -0.1512837530636628, "joint6": 0.048750233230819305, "gripper": 0.0}, "target_simulation_time": 21.19999999999913, "target_positions": {"joint1": 0.6024278064092281, "joint2": 1.4684955258314687, "joint3": 1.3671671629733213, "joint4": -1.3597471910732206, "joint5": -0.14214395962272075, "joint6": 0.046485558352637374, "gripper": 0.008081781046694094}, "target_object": {"position_m": [0.17205836586606388, 0.14952901199820573, 0.15778289753826658], "quaternion_wxyz": [0.4811338051690187, 0.03324304570610561, -0.09111879412300933, 0.8712649004713391], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0622087952545108}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06297300643534183}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06375022754644287}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06451464767054994}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06567762928443253}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06644231802010966}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07067306078343912}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0714390723467141}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06912840857146994}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06989418255777965}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06719826973453581}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06796375421350775}], "left_finger_force_n": 0.38556662421138765, "right_finger_force_n": 0.4162967482074464, "bilateral_contact": true, "supported": false, "lift_m": 0.057661528510384114}, "target_sequence": 10600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 265, "source_target": [-0.3383221924304962, -1.5625511407852173, 1.5668528079986572, 1.4809197187423706, -1.218458890914917, 0.0], "source_tool_goal_m": [-0.07283348593396935, -0.24089034673424525, 0.08512659503282785], "target_tool_goal_m": [0.1709340388250497, 0.1544978272755525, 0.16094112138236644], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6160270612535833, "joint2": 1.4722618416777455, "joint3": 1.3727395353692935, "joint4": -1.3508148804919269, "joint5": -0.1523995638190159, "joint6": 0.04928794411310786, "gripper": 0.0}, "target_simulation_time": 21.279999999999085, "target_positions": {"joint1": 0.6109771515756467, "joint2": 1.4700999351494461, "joint3": 1.368961390464265, "joint4": -1.3544681741981102, "joint5": -0.14338773616596492, "joint6": 0.047058482266237045, "gripper": 0.008078924115329334}, "target_object": {"position_m": [0.17207730273516442, 0.152187942659365, 0.15782351250168342], "quaternion_wxyz": [0.47735114335917617, 0.033005535936655894, -0.09366886527849898, 0.8730822780292016], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06253333128872289}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06334588862281161}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06409151372550542}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06490429891049476}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0660398744500811}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06685295251569355}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07117769888737062}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07199218452768233}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06961624941911744}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07043047665738615}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06766513585791761}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0684790481946693}], "left_finger_force_n": 0.38776785951330933, "right_finger_force_n": 0.41936079354414346, "bilateral_contact": true, "supported": false, "lift_m": 0.057702143473800954}, "target_sequence": 10640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 266, "source_target": [-0.34888479113578796, -1.5632482767105103, 1.5675722360610962, 1.4808586835861206, -1.2077817916870117, 0.0], "source_tool_goal_m": [-0.0748712139007008, -0.24008468930723906, 0.08514770477489804], "target_tool_goal_m": [0.17088974100976367, 0.15665108045840165, 0.16096223112443664], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6234684887413929, "joint2": 1.4734703203297534, "joint3": 1.3741138741798102, "joint4": -1.3463439358123412, "joint5": -0.15273674112090435, "joint6": 0.049613866004500476, "gripper": 0.0}, "target_simulation_time": 21.35999999999904, "target_positions": {"joint1": 0.6190418604103018, "joint2": 1.47177832769662, "joint3": 1.3702180515109554, "joint4": -1.3501665932991935, "joint5": -0.14454216818273447, "joint6": 0.04758325459370922, "gripper": 0.008078554075790483}, "target_object": {"position_m": [0.17186204885789727, 0.15456506088654876, 0.15773763643803704], "quaternion_wxyz": [0.4738186969977184, 0.03307927660735458, -0.09549774963572573, 0.8748038543862456], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06256481627604768}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06341016215534453}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.064107142074108}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06495272365945093}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06603567074362493}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06688155517245943}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07122447756736433}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07207176290335914}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06967904084549842}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07052606059960317}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06774792661910911}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06859462263907236}], "left_finger_force_n": 0.3879520700810355, "right_finger_force_n": 0.41984389117400656, "bilateral_contact": true, "supported": false, "lift_m": 0.057616267410154576}, "target_sequence": 10680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 267, "source_target": [-0.3616349697113037, -1.5639152526855469, 1.5686676502227783, 1.4807404279708862, -1.1949245929718018, 0.0027343749534338713], "source_tool_goal_m": [-0.07730703621971463, -0.23905350014893118, 0.08510875543601706], "target_tool_goal_m": [0.17089854915161962, 0.15925089653764665, 0.16092328178555565], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.631623715803287, "joint2": 1.4755433014993142, "joint3": 1.3759548233117276, "joint4": -1.3411204044846328, "joint5": -0.1539323759311608, "joint6": 0.050158786226925794, "gripper": 0.0001465781225037894}, "target_simulation_time": 21.439999999998996, "target_positions": {"joint1": 0.6267955090355347, "joint2": 1.47360981295222, "joint3": 1.3714752281582685, "joint4": -1.3454014749257952, "joint5": -0.14566474021097572, "joint6": 0.048105096291535254, "gripper": 0.008079275758617173}, "target_object": {"position_m": [0.1717614690571871, 0.1569496728882438, 0.15761381348640713], "quaternion_wxyz": [0.4704088533756269, 0.03308045653835317, -0.09744090353095805, 0.8764282425732948], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06133431500064096}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06223039303696197}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06288734415960823}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06378366887208596}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06482924731260462}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0657258891801325}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07016435484954896}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07106252992361556}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06860812197026872}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06950601699253295}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06666351215925036}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06756106596283284}], "left_finger_force_n": 0.38079085756203424, "right_finger_force_n": 0.41356560185804936, "bilateral_contact": true, "supported": false, "lift_m": 0.057492444458524666}, "target_sequence": 10720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 268, "source_target": [-0.37190771102905273, -1.56473708152771, 1.56862211227417, 1.4798166751861572, -1.185706377029419, 0.0], "source_tool_goal_m": [-0.07935710379491324, -0.2384477564401638, 0.08527835066228187], "target_tool_goal_m": [0.1706683571329935, 0.1613393459353631, 0.16109287701182046], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6388442178118641, "joint2": 1.4762941407653052, "joint3": 1.3774266053820805, "joint4": -1.3373218077910396, "joint5": -0.15465968120233115, "joint6": 0.05056719821747533, "gripper": 0.0}, "target_simulation_time": 21.51999999999895, "target_positions": {"joint1": 0.634345499769008, "joint2": 1.4753348890162667, "joint3": 1.372986060457816, "joint4": -1.3411691634136627, "joint5": -0.14675011536035662, "joint6": 0.04860546184361948, "gripper": 0.008078252480483068}, "target_object": {"position_m": [0.171614697255825, 0.15926269254001862, 0.15757903149944127], "quaternion_wxyz": [0.46707249367183057, 0.033100795067315204, -0.09932044557323502, 0.8779994715899455], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06235127198561104}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06329028063744414}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06390554430041606}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06484481582202718}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06584901136911533}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06678862072611289}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07121696575725792}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07215816528056526}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06965950795453305}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07060041032641888}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06771337527786532}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06865391549600741}], "left_finger_force_n": 0.38702954484072666, "right_finger_force_n": 0.4200023400926478, "bilateral_contact": true, "supported": false, "lift_m": 0.05745766247155881}, "target_sequence": 10760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 269, "source_target": [-0.38235101103782654, -1.5665239095687866, 1.5696300268173218, 1.4797993898391724, -1.1740691661834717, 0.0013671874767169356], "source_tool_goal_m": [-0.0813388910929668, -0.23757647213996802, 0.08545002031094504], "target_tool_goal_m": [0.1707048076056664, 0.1634668391351724, 0.16126454666048362], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6456097468049219, "joint2": 1.477582991458614, "joint3": 1.3794238810299815, "joint4": -1.3331252978166077, "joint5": -0.15518492525743366, "joint6": 0.050918935483568316, "gripper": 7.32890612518947e-05}, "target_simulation_time": 21.599999999998907, "target_positions": {"joint1": 0.6413847493773815, "joint2": 1.4766071792676903, "joint3": 1.3746524856606617, "joint4": -1.3373655487381435, "joint5": -0.14777090151809386, "joint6": 0.04907468138815381, "gripper": 0.008078711858382423}, "target_object": {"position_m": [0.17144699406677416, 0.16142350252266796, 0.1576841985087396], "quaternion_wxyz": [0.4639313306335331, 0.03304983920658877, -0.10126189534070679, 0.8794438339865862], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06179390908992392}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06276934022492674}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06334662012355748}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06432232226030228}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06528812929415274}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06626417975836152}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07073514398059723}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0717128396663228}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06917926902956154}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07015665817876551}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06723510837038096}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06821212396279265}], "left_finger_force_n": 0.38378450075122467, "right_finger_force_n": 0.4172311431884207, "bilateral_contact": true, "supported": false, "lift_m": 0.05756282948085714}, "target_sequence": 10800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 270, "source_target": [-0.3936810791492462, -1.5668368339538574, 1.570688247680664, 1.479171872138977, -1.162984013557434, 0.0], "source_tool_goal_m": [-0.0834938601686126, -0.23664112053204375, 0.0853602074254055], "target_tool_goal_m": [0.17073350179639424, 0.16577565847637696, 0.16117473377494407], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6526304104669617, "joint2": 1.4797613444403017, "joint3": 1.3810955864314605, "joint4": -1.3283732331957316, "joint5": -0.15611353651566967, "joint6": 0.05137372013327993, "gripper": 0.0}, "target_simulation_time": 21.679999999998863, "target_positions": {"joint1": 0.6481695413276232, "joint2": 1.47790550212968, "joint3": 1.3765411581377893, "joint4": -1.3326319906066646, "joint5": -0.1487613588971782, "joint6": 0.04953693708420952, "gripper": 0.00807783137095894}, "target_object": {"position_m": [0.17152081207469522, 0.16370228607492993, 0.15783459904354605], "quaternion_wxyz": [0.460839774560607, 0.032744938558309164, -0.10371049741783632, 0.8807943028352802], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06223964303975679}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06325942922873581}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06381085996655783}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0648309341745504}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06577551868737883}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06679596316920065}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07131123256519345}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0723334750107491}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06973668799813308}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07075860312290615}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06776921248315058}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06879072875061036}], "left_finger_force_n": 0.3867123482661803, "right_finger_force_n": 0.42069993993074273, "bilateral_contact": true, "supported": false, "lift_m": 0.057713230015663586}, "target_sequence": 10840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 271, "source_target": [-0.40843817591667175, -1.5661540031433105, 1.5726797580718994, 1.4819413423538208, -1.1562727689743042, 0.009570312686264515], "source_tool_goal_m": [-0.0860188568397528, -0.23474298511998118, 0.08490329415767196], "target_tool_goal_m": [0.17149422311430065, 0.1687858351292399, 0.16071782050721056], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6598586035583106, "joint2": 1.4840467738679115, "joint3": 1.3832483571356018, "joint4": -1.3203127478240326, "joint5": -0.15727667935586595, "joint6": 0.05191539289406727, "gripper": 0.0005130234474848424}, "target_simulation_time": 21.75999999999882, "target_positions": {"joint1": 0.655151432672467, "joint2": 1.4803155148195772, "joint3": 1.3787421767634063, "joint4": -1.3246791061199412, "joint5": -0.14976279933762088, "joint6": 0.05001395957253037, "gripper": 0.00808236819869576}, "target_object": {"position_m": [0.1722468028729587, 0.16657109703979034, 0.15780481478100084], "quaternion_wxyz": [0.4575366175559772, 0.031968928948137326, -0.10723725393066139, 0.8821215350204054], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05827386347685258}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.059337747124935794}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05987782850058933}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06094199995495351}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06188340846005484}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06294795084015015}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06745478701103666}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06852132230413925}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06584727755987642}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06691347834144858}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0638385948556646}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06490438871760042}], "left_finger_force_n": 0.3632627983575362, "right_finger_force_n": 0.39747984878976594, "bilateral_contact": true, "supported": false, "lift_m": 0.05768344575311837}, "target_sequence": 10880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 272, "source_target": [-0.4098316729068756, -1.5686986446380615, 1.5714505910873413, 1.4798564910888672, -1.1464755535125732, 0.0], "source_tool_goal_m": [-0.08651360817489841, -0.2351940456067391, 0.08557281043806664], "target_tool_goal_m": [0.1708973190128127, 0.16906283170564113, 0.16138733678760522], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6633242312791325, "joint2": 1.4808466118328207, "joint3": 1.3831934574778357, "joint4": -1.3201785395141825, "joint5": -0.15575215580646387, "joint6": 0.05164633168149295, "gripper": 0.0}, "target_simulation_time": 21.839999999998774, "target_positions": {"joint1": 0.6606693458864942, "joint2": 1.4819240889675565, "joint3": 1.3800428480439508, "joint4": -1.3220048410276821, "joint5": -0.1505501647501268, "joint6": 0.05035043040819615, "gripper": 0.008080589253785101}, "target_object": {"position_m": [0.1720599901234825, 0.16829532830748856, 0.1577660107874127], "quaternion_wxyz": [0.4550586576855523, 0.03213405228222543, -0.10840752466121856, 0.8832535475989748], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061989929959259525}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06305008071349368}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06354083344754546}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06460127937551577}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06548008176720187}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.066540907020745}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07107282848344405}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07213533670193756}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0695189233635953}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07058110032851794}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06757721815507961}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06863899144932921}], "left_finger_force_n": 0.3852031122837613, "right_finger_force_n": 0.4195243984819037, "bilateral_contact": true, "supported": false, "lift_m": 0.05764464175953024}, "target_sequence": 10920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 273, "source_target": [-0.4184325337409973, -1.5701545476913452, 1.5722062587738037, 1.4803659915924072, -1.138845682144165, 0.0], "source_tool_goal_m": [-0.08808788412245623, -0.23434681029877902, 0.08571358384327424], "target_tool_goal_m": [0.17106686900461604, 0.17081181127321285, 0.16152811019281282], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.668295125837844, "joint2": 1.4824846474285769, "joint3": 1.3852986992436065, "joint4": -1.3167565861016122, "joint5": -0.15620070512594772, "joint6": 0.0519000569315743, "gripper": 0.0}, "target_simulation_time": 21.91999999999873, "target_positions": {"joint1": 0.6648538740505637, "joint2": 1.482028412065249, "joint3": 1.3806007341800222, "joint4": -1.3211901148216403, "joint5": -0.15120975905243744, "joint6": 0.05065195999062229, "gripper": 0.008078373945152716}, "target_object": {"position_m": [0.17152468497639106, 0.16930460561382402, 0.15788445352454575], "quaternion_wxyz": [0.45324549179289375, 0.03242791802171574, -0.10900586325846914, 0.8841010553536692], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06204057199540227}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06314658867478816}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06360108989019306}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06470741734384836}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06555236426393671}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06665909107103932}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07142388861400209}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07253242290961122}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06986027830927116}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07096846301681224}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06790645212186738}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06901421077115097}], "left_finger_force_n": 0.38570712323920786, "right_finger_force_n": 0.4217057157427151, "bilateral_contact": true, "supported": false, "lift_m": 0.057763084496663286}, "target_sequence": 10960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 274, "source_target": [-0.4262104034423828, -1.5688118934631348, 1.5741164684295654, 1.4809907674789429, -1.131528377532959, 0.0], "source_tool_goal_m": [-0.08938310688381203, -0.23330424774274466, 0.08518198331007468], "target_tool_goal_m": [0.17151953557897465, 0.17238209936698692, 0.16099650965961326], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6720423975420663, "joint2": 1.485758865253369, "joint3": 1.386199166148892, "joint4": -1.31239236041488, "joint5": -0.1564716425174103, "joint6": 0.05213435118900425, "gripper": 0.0}, "target_simulation_time": 21.999999999998685, "target_positions": {"joint1": 0.6686896143613642, "joint2": 1.4828929621580231, "joint3": 1.3817553401333524, "joint4": -1.3174169743630064, "joint5": -0.15181915057797998, "joint6": 0.050939282621186896, "gripper": 0.008077740454044366}, "target_object": {"position_m": [0.17173314921047816, 0.17078687336937612, 0.15796926071314896], "quaternion_wxyz": [0.4514331641386805, 0.03210597666669767, -0.11085275030553705, 0.8848101334906356], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06203184442379543}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06317307258294226}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06359535068963544}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06473689935055443}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06555036082185568}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06669232138740532}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07145090015215556}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0725948336314497}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06988415197510442}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07102772235929364}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0679264086786679}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06906953651764476}], "left_finger_force_n": 0.3857798492561886, "right_finger_force_n": 0.42195355331431594, "bilateral_contact": true, "supported": false, "lift_m": 0.057847891685266495}, "target_sequence": 11000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 275, "source_target": [-0.4346744120121002, -1.5708063840866089, 1.5739816427230835, 1.4816834926605225, -1.123557686805725, 0.0], "source_tool_goal_m": [-0.09096423907331189, -0.23255673629005535, 0.08554877191531877], "target_tool_goal_m": [0.1715960887466435, 0.17409938780245343, 0.16136329826485735], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6765599954095475, "joint2": 1.4860582160724018, "joint3": 1.3879158567856396, "joint4": -1.3087051897423563, "joint5": -0.1575817007574308, "joint6": 0.05255387139475245, "gripper": 0.0}, "target_simulation_time": 22.07999999999864, "target_positions": {"joint1": 0.6726634389599486, "joint2": 1.4845292564661028, "joint3": 1.383451650179241, "joint4": -1.31278196013269, "joint5": -0.15245363499423661, "joint6": 0.051248460858005065, "gripper": 0.008076996308911599}, "target_object": {"position_m": [0.1722120840157227, 0.17253867525255784, 0.1580111513468923], "quaternion_wxyz": [0.44953555221902347, 0.03166751474566542, -0.11301217957707414, 0.8855186068447176], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06193074716910701}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06312815719295599}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0635259678439503}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06472372049049326}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06552064552329148}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06671883878163719}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07149772010099864}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07269804826931248}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06989909763441199}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07109903584102466}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06790154152140614}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06910100466194789}], "left_finger_force_n": 0.38554807700143523, "right_finger_force_n": 0.4221964480291018, "bilateral_contact": true, "supported": false, "lift_m": 0.05788978231900985}, "target_sequence": 11040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 276, "source_target": [-0.4387784004211426, -1.5712239742279053, 1.5742968320846558, 1.4799339771270752, -1.1165941953659058, 0.0], "source_tool_goal_m": [-0.0918304526937411, -0.23241938632528858, 0.08560399801516491], "target_tool_goal_m": [0.17139133060644068, 0.17493674030977943, 0.1614185243647035], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.679734798302665, "joint2": 1.4861039032721512, "joint3": 1.3881673796841034, "joint4": -1.3069797470827542, "joint5": -0.15757358809945615, "joint6": 0.052664199016559894, "gripper": 0.0}, "target_simulation_time": 22.159999999998597, "target_positions": {"joint1": 0.6764771515055125, "joint2": 1.4855317833792403, "joint3": 1.3845124697247182, "joint4": -1.3106336688888627, "joint5": -0.15304871535122375, "joint6": 0.05152313332681329, "gripper": 0.008077489309684932}, "target_object": {"position_m": [0.1721178844782937, 0.17379571049673972, 0.15805437707957273], "quaternion_wxyz": [0.44781269278424574, 0.03171530964727086, -0.11406525480688497, 0.8862545057494156], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06195042651843696}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06317129062352657}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06353300800528419}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0647542201920777}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0655118785632306}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0667335382258931}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07146438328978386}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07268809253262984}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06987859377230812}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07110191009864196}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06789706411661958}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0691199017194909}], "left_finger_force_n": 0.3856543621284491, "right_finger_force_n": 0.42214994552947427, "bilateral_contact": true, "supported": false, "lift_m": 0.05793300805169027}, "target_sequence": 11080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 277, "source_target": [-0.44343528151512146, -1.571439266204834, 1.5741374492645264, 1.482801914215088, -1.114915132522583, 0.0], "source_tool_goal_m": [-0.09252875659951998, -0.2316333098543259, 0.08562407356844896], "target_tool_goal_m": [0.17183840839567494, 0.17586848299102523, 0.16143859991798754], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6819155176906523, "joint2": 1.4873796530505954, "joint3": 1.3895134769033433, "joint4": -1.3043024554599085, "joint5": -0.1570582291895826, "joint6": 0.052649511413766184, "gripper": 0.0}, "target_simulation_time": 22.239999999998552, "target_positions": {"joint1": 0.6793203882537638, "joint2": 1.4860861068100037, "joint3": 1.385152140226283, "joint4": -1.309126928244146, "joint5": -0.15352745019274636, "joint6": 0.05173868621545763, "gripper": 0.00807789272803362}, "target_object": {"position_m": [0.17197093973102465, 0.17468987485881995, 0.15809187616588652], "quaternion_wxyz": [0.44652779245074464, 0.03179690475731872, -0.11480459467174343, 0.8868042582549851], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06191719333546992}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06315909936173067}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06348411622019458}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06472637247631241}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06544339916244987}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06668610551395913}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07147018397927839}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07271497227623443}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06990009810828765}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07114449125852858}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06793818211516629}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06918209368798688}], "left_finger_force_n": 0.3854162860701166, "right_finger_force_n": 0.4223500214254822, "bilateral_contact": true, "supported": false, "lift_m": 0.05797050713800406}, "target_sequence": 11120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 278, "source_target": [-0.4506520628929138, -1.572585940361023, 1.5756185054779053, 1.4818423986434937, -1.1066603660583496, 0.0027343749534338713], "source_tool_goal_m": [-0.09385694598199512, -0.23096369530660593, 0.08562264546667936], "target_tool_goal_m": [0.1719405002542132, 0.17732689235153662, 0.16143717181621794], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6855351822477486, "joint2": 1.4888944933072796, "joint3": 1.3908249830239785, "joint4": -1.301229313816273, "joint5": -0.15807033552959324, "joint6": 0.053022702598915686, "gripper": 0.0001465781225037894}, "target_simulation_time": 22.319999999998508, "target_positions": {"joint1": 0.6820012535543264, "joint2": 1.4870328537164412, "joint3": 1.3862299709455375, "joint4": -1.3060732969329867, "joint5": -0.15400501386839457, "joint6": 0.05197574847357629, "gripper": 0.008078358810655746}, "target_object": {"position_m": [0.17223006807234786, 0.17585281644607606, 0.15814533479889864], "quaternion_wxyz": [0.44525508781041145, 0.0315458387673193, -0.1162547082219462, 0.8872641149351405], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06065703406408037}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06194979691754752}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.062253076777200725}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06354620355893126}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06424876965433768}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06554236463130557}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07042288528995312}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07171873127926488}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06882352311002413}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07011895484166746}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06682502854707482}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06811995579617118}], "left_finger_force_n": 0.3781972456034031, "right_finger_force_n": 0.4160290788641556, "bilateral_contact": true, "supported": false, "lift_m": 0.05802396577101618}, "target_sequence": 11160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 279, "source_target": [-0.4546065330505371, -1.5717601776123047, 1.573901653289795, 1.4836317300796509, -1.1044411659240723, 0.0], "source_tool_goal_m": [-0.09457015566078644, -0.2305579076013244, 0.0857073287548097], "target_tool_goal_m": [0.17203721463850902, 0.1781275954916783, 0.1615218551043483], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6877103755253976, "joint2": 1.4892393272891165, "joint3": 1.3914728781758934, "joint4": -1.2991697915929836, "joint5": -0.1581745404748569, "joint6": 0.053150973049865664, "gripper": 0.0}, "target_simulation_time": 22.399999999998464, "target_positions": {"joint1": 0.6846729275954004, "joint2": 1.4880906013001716, "joint3": 1.387407465108775, "joint4": -1.303333374291414, "joint5": -0.15446796404548196, "joint6": 0.05219610261539718, "gripper": 0.008077607349500492}, "target_object": {"position_m": [0.17246143958685936, 0.17699997841105564, 0.1582015992822375], "quaternion_wxyz": [0.4439823495422057, 0.031347149723663516, -0.11758505086386763, 0.8877335103016706], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06171953945971203}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06304299398778758}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06331678002040977}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06464061351775124}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06531398140727905}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06663830225588166}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07144197391854233}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07276858253558592}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06984142184041005}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07116760077660961}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06784144970442287}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06916710523473957}], "left_finger_force_n": 0.38467221064882134, "right_finger_force_n": 0.42222813401031034, "bilateral_contact": true, "supported": false, "lift_m": 0.05808023025435505}, "target_sequence": 11200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 280, "source_target": [-0.45919397473335266, -1.5723220109939575, 1.5757505893707275, 1.481338381767273, -1.0982012748718262, 0.0], "source_tool_goal_m": [-0.09546114589826124, -0.23023187835506648, 0.08556607109370311], "target_tool_goal_m": [0.17199405956955338, 0.17905912402602256, 0.16138059744324168], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6904264764426736, "joint2": 1.490336027045035, "joint3": 1.3918594827212776, "joint4": -1.2971025435721966, "joint5": -0.1585857574749272, "joint6": 0.05335147048339714, "gripper": 0.0}, "target_simulation_time": 22.47999999999842, "target_positions": {"joint1": 0.68720915326711, "joint2": 1.4889027145005236, "joint3": 1.3880531927265902, "joint4": -1.301518220054715, "joint5": -0.15491236835035252, "joint6": 0.05240951146079112, "gripper": 0.008077174378151102}, "target_object": {"position_m": [0.1724422907703386, 0.17789738403937388, 0.15818671732445566], "quaternion_wxyz": [0.44283783066554716, 0.031382164989325306, -0.11836146599630387, 0.8882006410824189], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06172434930153566}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06308073527664203}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0633289552016684}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06468573211259956}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06533536999783994}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06669264967758841}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0715271066986204}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07288672581017303}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06991917845039963}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07127835457927266}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06790999306372378}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06926862962022026}], "left_finger_force_n": 0.384847791567874, "right_finger_force_n": 0.42278998822240976, "bilateral_contact": true, "supported": false, "lift_m": 0.0580653482965732}, "target_sequence": 11240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 281, "source_target": [-0.46193990111351013, -1.5729129314422607, 1.5762306451797485, 1.4818485975265503, -1.094724416732788, 0.0], "source_tool_goal_m": [-0.09591194346119214, -0.22986896655931327, 0.08559260182307497], "target_tool_goal_m": [0.1721516553798927, 0.1796056767259624, 0.16140712817261355], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6919038774218295, "joint2": 1.4908519971512944, "joint3": 1.392472215203149, "joint4": -1.295615196690071, "joint5": -0.15831972119905907, "joint6": 0.053373046546525645, "gripper": 0.0}, "target_simulation_time": 22.559999999998375, "target_positions": {"joint1": 0.6892762097030811, "joint2": 1.4896221530125568, "joint3": 1.3884207904944637, "joint4": -1.3002509625794028, "joint5": -0.15529472236339198, "joint6": 0.052586534682641614, "gripper": 0.008077462623251057}, "target_object": {"position_m": [0.17235296573270903, 0.17858248089202067, 0.15812127373153337], "quaternion_wxyz": [0.44192099231388027, 0.0315153917615323, -0.11879478986851863, 0.8885946289138403], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06172619913885067}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06310396758109389}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06331965476897033}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06469781780532047}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06531212233324693}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06669079272104607}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07151922539249547}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07290024880355701}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06992250295103543}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07130307993703558}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06792731350092791}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06930734662077376}], "left_finger_force_n": 0.3848505543485284, "right_finger_force_n": 0.4228797172058252, "bilateral_contact": true, "supported": false, "lift_m": 0.057999904703650906}, "target_sequence": 11280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 282, "source_target": [-0.4646807610988617, -1.5721232891082764, 1.5744082927703857, 1.4808270931243896, -1.092192530632019, 0.0027343749534338713], "source_tool_goal_m": [-0.09659400741437232, -0.22996741400189205, 0.08574144454307427], "target_tool_goal_m": [0.17180316457295358, 0.18018648593304692, 0.16155597089261287], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6941980189456692, "joint2": 1.4907055960321194, "joint3": 1.3928601322559824, "joint4": -1.2951935753211048, "joint5": -0.15888090014565281, "joint6": 0.05358885496371882, "gripper": 0.0001465781225037894}, "target_simulation_time": 22.63999999999833, "target_positions": {"joint1": 0.6911120114435574, "joint2": 1.4900068419828707, "joint3": 1.38864917611935, "joint4": -1.2993936910787152, "joint5": -0.15566136499089325, "joint6": 0.052765145292271574, "gripper": 0.008078377807536076}, "target_object": {"position_m": [0.172195656764565, 0.17912882241769798, 0.15809527361051381], "quaternion_wxyz": [0.44112984554479867, 0.031670564632593344, -0.11912724623705487, 0.8889376434314439], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.060512328316186005}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06192636333732628}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06211871347937481}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06353314949958275}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06412734125587782}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06554229322356873}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0704448181727158}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07186219218954576}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06883514068136166}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07025205924315361}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06682375793048431}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06824012193105286}], "left_finger_force_n": 0.3777601891119164, "right_finger_force_n": 0.41645809014831403, "bilateral_contact": true, "supported": false, "lift_m": 0.05797390458263135}, "target_sequence": 11320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 283, "source_target": [-0.46751168370246887, -1.5722312927246094, 1.5775489807128906, 1.4792051315307617, -1.0913186073303223, 0.0], "source_tool_goal_m": [-0.0970217079539094, -0.229508671882006, 0.0853144013992168], "target_tool_goal_m": [0.17205640129994826, 0.18074852899784632, 0.16112892774875537], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6953817069416723, "joint2": 1.4925030995348563, "joint3": 1.392826034201177, "joint4": -1.2931660687741542, "joint5": -0.15873577434767605, "joint6": 0.05364428688910367, "gripper": 0.0}, "target_simulation_time": 22.719999999998286, "target_positions": {"joint1": 0.6927190590957878, "joint2": 1.4905474145989543, "joint3": 1.3889065238268485, "joint4": -1.2980575363955675, "joint5": -0.15599127382383896, "joint6": 0.05292203603584619, "gripper": 0.008077608306619393}, "target_object": {"position_m": [0.17217709068659165, 0.17971299810844368, 0.1580438277101878], "quaternion_wxyz": [0.4404052739346679, 0.03172426416284763, -0.11961992667748618, 0.8892287888364441], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061568744671926454}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06300824240645216}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06317531058981231}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06461522267993712}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06518417383741774}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06662461885097323}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07147370970512135}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07291664145189863}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0698638196792116}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0713062816443319}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06785218074726883}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06929407052485738}], "left_finger_force_n": 0.384176313036519, "right_finger_force_n": 0.4227067037526897, "bilateral_contact": true, "supported": false, "lift_m": 0.05792245868230533}, "target_sequence": 11360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 284, "source_target": [-0.46638593077659607, -1.5714811086654663, 1.5783284902572632, 1.4805101156234741, -1.0891464948654175, 0.0], "source_tool_goal_m": [-0.09666280659250259, -0.22932606109504353, 0.0850461217090708], "target_tool_goal_m": [0.17235834237407205, 0.18049262871110766, 0.1608606480586094], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6946985236117942, "joint2": 1.4929560571479537, "joint3": 1.3923033127649485, "joint4": -1.2926187017039614, "joint5": -0.15747983514404706, "joint6": 0.053372422138726235, "gripper": 0.0}, "target_simulation_time": 22.799999999998242, "target_positions": {"joint1": 0.69315314238465, "joint2": 1.491403723836105, "joint3": 1.3890105948342355, "joint4": -1.29706300306589, "joint5": -0.1561602113479193, "joint6": 0.052994349436015734, "gripper": 0.008077692128551174}, "target_object": {"position_m": [0.17231284813508604, 0.18001747740769428, 0.15787759090142475], "quaternion_wxyz": [0.44020838931957645, 0.03179500245505672, -0.11973827101615009, 0.8893078197371316], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061517040797207836}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06295510055271973}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06313304678336114}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06457152178995296}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06515371552462473}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0665927246832072}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07162717852575758}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07306876154242771}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07000773043712677}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07144884049262572}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0679841532160953}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06942468722223877}], "left_finger_force_n": 0.3839231501310736, "right_finger_force_n": 0.4235613514362718, "bilateral_contact": true, "supported": false, "lift_m": 0.05775622187354229}, "target_sequence": 11400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 285, "source_target": [-0.4682300090789795, -1.5714854001998901, 1.57453453540802, 1.4820228815078735, -1.0880076885223389, 0.0], "source_tool_goal_m": [-0.09714967189975518, -0.22944380384775284, 0.08559253017277654], "target_tool_goal_m": [0.17206655840292356, 0.18088917359614876, 0.16140705652231513], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6960299551716579, "joint2": 1.4917677327338703, "joint3": 1.3932842392248366, "joint4": -1.2928684624373448, "joint5": -0.15838738619699197, "joint6": 0.05362710684680409, "gripper": 0.0}, "target_simulation_time": 22.879999999998198, "target_positions": {"joint1": 0.693348125879518, "joint2": 1.4917773906305942, "joint3": 1.3890951110766423, "joint4": -1.2963441582904431, "joint5": -0.15633672373207236, "joint6": 0.05308917413003633, "gripper": 0.008076787296535085}, "target_object": {"position_m": [0.17242253215921027, 0.18021235820774917, 0.15780970052680762], "quaternion_wxyz": [0.44013505373834944, 0.03181877442238684, -0.11993280807520745, 0.8893170534810367], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06149702652249608}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06298634331141056}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06310827620098988}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06459802240833903}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06512299569911724}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0666132942063267}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07162118235802162}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07311410758538366}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07000654627915215}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07149898349233469}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06798897827241644}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06948082105902187}], "left_finger_force_n": 0.3839259583486795, "right_finger_force_n": 0.42371061904633045, "bilateral_contact": true, "supported": false, "lift_m": 0.05768833149892516}, "target_sequence": 11440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 286, "source_target": [-0.46576106548309326, -1.5711218118667603, 1.577276349067688, 1.4802721738815308, -1.0893758535385132, 0.0], "source_tool_goal_m": [-0.09662761350094992, -0.22954439928292114, 0.0851430343385871], "target_tool_goal_m": [0.1721738155382856, 0.18037773753786365, 0.16095756068812567], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6947951136258776, "joint2": 1.4923246982595078, "joint3": 1.3920808152509996, "joint4": -1.2931228110686601, "joint5": -0.1575067352415339, "joint6": 0.05343187628139854, "gripper": 0.0}, "target_simulation_time": 22.959999999998153, "target_positions": {"joint1": 0.693423609988457, "joint2": 1.4918397034030197, "joint3": 1.389154207429533, "joint4": -1.2957954009420791, "joint5": -0.1564209572176876, "joint6": 0.05313343240743817, "gripper": 0.008076638896538256}, "target_object": {"position_m": [0.17251272464297404, 0.18033514355447502, 0.15780908601299132], "quaternion_wxyz": [0.4400834770660645, 0.03176483940970163, -0.12017379547264805, 0.8893119739846183], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06145443832475769}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06294042765312043}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0631070472146465}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06459347606571633}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06517350134445053}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06666049594472594}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07166794393112928}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07315759363680102}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07001180519043884}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07150095413846556}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06794239960295072}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0694309390186549}], "left_finger_force_n": 0.38392938654741743, "right_finger_force_n": 0.4237116355184403, "bilateral_contact": true, "supported": false, "lift_m": 0.057687716985108856}, "target_sequence": 11480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 287, "source_target": [-0.4672721326351166, -1.5715076923370361, 1.577175259590149, 1.4791266918182373, -1.0902903079986572, 0.0], "source_tool_goal_m": [-0.0969964641190751, -0.22957360464974386, 0.08524329699479058], "target_tool_goal_m": [0.17200714092533737, 0.1807009663517521, 0.16105782334432917], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.6957382145204956, "joint2": 1.492131518089709, "joint3": 1.3922250980923743, "joint4": -1.292750743621052, "joint5": -0.15818169789099115, "joint6": 0.053631112083931516, "gripper": 0.0}, "target_simulation_time": 23.03999999999811, "target_positions": {"joint1": 0.6935033496127507, "joint2": 1.4918956130101786, "joint3": 1.3892099598004302, "joint4": -1.295291965332089, "joint5": -0.15654857646641018, "joint6": 0.053200202501163314, "gripper": 0.008076683722148032}, "target_object": {"position_m": [0.17258820001660719, 0.1804550194352579, 0.15781012267476763], "quaternion_wxyz": [0.44004432076564814, 0.031741148557323295, -0.12040157207624179, 0.8893013868715897], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06144914354171949}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06298485522034923}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06308227227352968}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06461843325705753}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06512435932883705}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06666109842138393}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0716259593949349}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0731654027463655}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06998939466569606}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07152832733918227}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06794443639039764}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06948274726231438}], "left_finger_force_n": 0.38392016204287693, "right_finger_force_n": 0.42373626779889073, "bilateral_contact": true, "supported": false, "lift_m": 0.057688753646885166}, "target_sequence": 11520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 288, "source_target": [-0.47475510835647583, -1.5725756883621216, 1.57771635055542, 1.4793572425842285, -1.081221580505371, 0.0], "source_tool_goal_m": [-0.09833734424362453, -0.22880948012529495, 0.08535132140050064], "target_tool_goal_m": [0.17219007375677242, 0.18220680260047162, 0.16116584775003923], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.698502021923384, "joint2": 1.4935663171265667, "joint3": 1.3937807157281454, "joint4": -1.2895351255363696, "joint5": -0.16015008628471172, "joint6": 0.0542145680209308, "gripper": 0.0}, "target_simulation_time": 23.119999999998065, "target_positions": {"joint1": 0.6946781181335613, "joint2": 1.492177040347783, "joint3": 1.3895305156923818, "joint4": -1.2944131001843058, "joint5": -0.15684717269420317, "joint6": 0.05336818260994377, "gripper": 0.008075606681519486}, "target_object": {"position_m": [0.17257097738845198, 0.18087898669789043, 0.15783024669415785], "quaternion_wxyz": [0.43954953061823515, 0.031780184298363726, -0.12082431274312234, 0.8894873329448849], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06136230863208561}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06296666144761348}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06303075506139667}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06463558743941421}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06511701893536305}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06672246877649923}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07164851111137063}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07325683286289945}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06997649421180052}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07158426936587117}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06788725529999748}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06949436529331346}], "left_finger_force_n": 0.38383480029237227, "right_finger_force_n": 0.42384772814525273, "bilateral_contact": true, "supported": false, "lift_m": 0.05770887766627539}, "target_sequence": 11560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 289, "source_target": [-0.47818198800086975, -1.5717471837997437, 1.578000545501709, 1.478858232498169, -1.0790553092956543, 0.0], "source_tool_goal_m": [-0.09896847233078937, -0.22848510825064378, 0.08516963830588752], "target_tool_goal_m": [0.17224419175880665, 0.18290215944950525, 0.1609841646554261], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7001025988488364, "joint2": 1.4947208483406231, "joint3": 1.3940573261348663, "joint4": -1.287832555964143, "joint5": -0.1606890504724763, "joint6": 0.05445542113713111, "gripper": 0.0}, "target_simulation_time": 23.19999999999802, "target_positions": {"joint1": 0.6968059070261375, "joint2": 1.492871283234218, "joint3": 1.3900174110101, "joint4": -1.2926523464231157, "joint5": -0.15723605719265712, "joint6": 0.053564129963336427, "gripper": 0.008076193381409583}, "target_object": {"position_m": [0.17257206695454153, 0.18166250289482394, 0.15780275393102366], "quaternion_wxyz": [0.4385866303513653, 0.03179493484207024, -0.12154363931633039, 0.8898640309267284], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06144081876287616}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06307089126852859}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06311027579635944}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0647408375819167}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06519780680982985}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06682899858954493}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07155289758222412}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07318696091580715}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06987990998430435}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07151341686508393}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06778946022993954}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06942229001515719}], "left_finger_force_n": 0.3843896288090557, "right_finger_force_n": 0.4233449355925163, "bilateral_contact": true, "supported": false, "lift_m": 0.0576813849031412}, "target_sequence": 11600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 290, "source_target": [-0.47737830877304077, -1.5724848508834839, 1.5796970129013062, 1.4781548976898193, -1.0785558223724365, 0.0], "source_tool_goal_m": [-0.09876713332317454, -0.22846224065083717, 0.08505717265727453], "target_tool_goal_m": [0.17234144947909572, 0.1827283558430555, 0.1608716990068131], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7000735921227038, "joint2": 1.4946613589211597, "joint3": 1.393660596316619, "joint4": -1.287612800223508, "joint5": -0.1596049013262498, "joint6": 0.0542445437717245, "gripper": 0.0}, "target_simulation_time": 23.279999999997976, "target_positions": {"joint1": 0.6981129609699755, "joint2": 1.4935696052844907, "joint3": 1.3901983482765201, "joint4": -1.2916916280458888, "joint5": -0.15751707794062741, "joint6": 0.05368543946833634, "gripper": 0.008077590737483528}, "target_object": {"position_m": [0.17253380799967724, 0.18213807923945308, 0.1576943178902421], "quaternion_wxyz": [0.43800232408592893, 0.031933371644267176, -0.1217619418754353, 0.8901169885927788], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06149449081685286}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06311857757315818}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06313040903880697}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06475497385021817}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06517598796832108}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06680116791283908}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07150257781745532}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07313055975676869}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06986327229757508}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07149071238137943}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0678148914541333}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06944167185347938}], "left_finger_force_n": 0.38447560716019635, "right_finger_force_n": 0.42324368556079117, "bilateral_contact": true, "supported": false, "lift_m": 0.05757294886235964}, "target_sequence": 11640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 291, "source_target": [-0.4805961549282074, -1.5713255405426025, 1.5784964561462402, 1.4763233661651611, -1.0761605501174927, 0.013671875], "source_tool_goal_m": [-0.09954699945073621, -0.22851900102505138, 0.08505915750975596], "target_tool_goal_m": [0.17199356900056495, 0.18341365947158497, 0.16087368385929454], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.702383610246042, "joint2": 1.4950515150089916, "joint3": 1.3939088053845052, "joint4": -1.286896663889526, "joint5": -0.1605610296898965, "joint6": 0.05454260050608211, "gripper": 0.000732890625}, "target_simulation_time": 23.35999999999793, "target_positions": {"joint1": 0.699197400294975, "joint2": 1.4940494023484314, "joint3": 1.390274215400993, "joint4": -1.2909011861768647, "joint5": -0.1577931883734938, "joint6": 0.053828188354588365, "gripper": 0.008083626187698608}, "target_object": {"position_m": [0.17248215031668002, 0.18251495696023248, 0.1576076922690375], "quaternion_wxyz": [0.4375548152319389, 0.03206538263533805, -0.12194557724421567, 0.8903071779416176], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05576359422384627}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.057425554494176884}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.057428465163203324}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.059090881796736834}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.059510200209731544}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06117320588222259}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06602415376507761}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06768996392238814}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06435594484336231}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06602122973687638}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06227140554672626}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06393605251830996}], "left_finger_force_n": 0.3503919017699174, "right_finger_force_n": 0.39029875033274064, "bilateral_contact": true, "supported": false, "lift_m": 0.057486323241155046}, "target_sequence": 11680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 292, "source_target": [-0.48003730177879333, -1.5687175989151, 1.5819461345672607, 1.4715642929077148, -1.0752074718475342, 0.0], "source_tool_goal_m": [-0.09950030765487998, -0.2286856411133012, 0.08414926546282542], "target_tool_goal_m": [0.17186027258423076, 0.1833079965463972, 0.159963791812364], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7027005370031099, "joint2": 1.4969551775784926, "joint3": 1.3920691860263001, "joint4": -1.2864245037907047, "joint5": -0.16012575299928447, "joint6": 0.05449460570164406, "gripper": 0.0}, "target_simulation_time": 23.439999999997887, "target_positions": {"joint1": 0.7002314269285255, "joint2": 1.494831529986155, "joint3": 1.390301614678475, "joint4": -1.2901671165082607, "joint5": -0.15803158592908276, "joint6": 0.053940288009908695, "gripper": 0.008079349522490705}, "target_object": {"position_m": [0.1724351637999866, 0.1828735758959032, 0.1574428000548132], "quaternion_wxyz": [0.43712681029110306, 0.03225688641008542, -0.12194864766562628, 0.8905100630180316], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061003203549723675}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06267428513649485}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06266335098941216}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06433492479332867}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06473922664361319}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06641143432157466}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0711721115354735}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07284722725819019}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06950850462043713}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07118306012794329}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06742976091891756}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06910363483561559}], "left_finger_force_n": 0.3818264254341472, "right_finger_force_n": 0.42124429929657725, "bilateral_contact": true, "supported": false, "lift_m": 0.05732143102693074}, "target_sequence": 11720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 293, "source_target": [-0.4805457293987274, -1.5704084634780884, 1.5826902389526367, 1.4717004299163818, -1.0792683362960815, 0.0], "source_tool_goal_m": [-0.0995608338531603, -0.22855555908874722, 0.08433550789104513], "target_tool_goal_m": [0.17195517384995518, 0.18341230315239263, 0.16015003424058372], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7029262741319533, "joint2": 1.4967217774839512, "joint3": 1.392617141427827, "joint4": -1.2862245728719859, "joint5": -0.15990910929691055, "joint6": 0.0544797671447675, "gripper": 0.0}, "target_simulation_time": 23.519999999997843, "target_positions": {"joint1": 0.7006646523957122, "joint2": 1.495747764822347, "joint3": 1.3903247646903718, "joint4": -1.2895106160418095, "joint5": -0.15820768822668319, "joint6": 0.05402317055692732, "gripper": 0.008077724952656537}, "target_object": {"position_m": [0.17249579500223675, 0.18311328788865985, 0.15723813151863156], "quaternion_wxyz": [0.43696947353252785, 0.032429552121154614, -0.12184143269525938, 0.890595681905484], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06129961419633177}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0629868378033154}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06295527211344418}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06464299612772856}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06502553803598847}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06671390620864354}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07152969262774178}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07322103938675689}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06987054162520671}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07156131909739771}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06779737018746214}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06948745477757245}], "left_finger_force_n": 0.3836241644854519, "right_finger_force_n": 0.4234674177021377, "bilateral_contact": true, "supported": false, "lift_m": 0.057116762490749096}, "target_sequence": 11760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 294, "source_target": [-0.48131951689720154, -1.5678499937057495, 1.5846019983291626, 1.4696564674377441, -1.0774755477905273, 0.0], "source_tool_goal_m": [-0.09967321067501012, -0.22842935803830905, 0.08362463022827689], "target_tool_goal_m": [0.1720268485946479, 0.18356213250916786, 0.1594391565778155], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7032176407938419, "joint2": 1.4988055099874071, "joint3": 1.3917023410062404, "joint4": -1.2852628234701808, "joint5": -0.15987205507180577, "joint6": 0.05451014302842808, "gripper": 0.0}, "target_simulation_time": 23.5999999999978, "target_positions": {"joint1": 0.7007784562141421, "joint2": 1.4968157549907446, "joint3": 1.3903298484601272, "joint4": -1.288824393458918, "joint5": -0.15834197176307926, "joint6": 0.05409243976414023, "gripper": 0.008077006939154165}, "target_object": {"position_m": [0.1726292008367896, 0.18329669051125994, 0.15699725547110932], "quaternion_wxyz": [0.43696295592321593, 0.03258585271711817, -0.12167492846737656, 0.8906159380653386], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06127541611776382}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06298162929231492}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06294695695414594}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06465368098974739}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06503708974510389}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06674447157322876}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0716138486339326}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07332429017785899}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06993873053721547}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07164858966272583}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06784561636254517}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06955476676250039}], "left_finger_force_n": 0.3836392446723047, "right_finger_force_n": 0.4239258421367784, "bilateral_contact": true, "supported": false, "lift_m": 0.05687588644322686}, "target_sequence": 11800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 295, "source_target": [-0.47915908694267273, -1.5692570209503174, 1.5867184400558472, 1.4639884233474731, -1.0797251462936401, 0.0], "source_tool_goal_m": [-0.09954988186831765, -0.22916003876837432, 0.08364244912292135], "target_tool_goal_m": [0.17141143021618926, 0.18317260941980498, 0.15945697547245993], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7034553499541838, "joint2": 1.4979041025738526, "joint3": 1.390881306706161, "joint4": -1.2872581190639423, "joint5": -0.16009988676379458, "joint6": 0.054575892691774645, "gripper": 0.0}, "target_simulation_time": 23.679999999997754, "target_positions": {"joint1": 0.7008971027404991, "joint2": 1.4976114150795026, "joint3": 1.3902878571255681, "joint4": -1.2885075491258422, "joint5": -0.15847193529525408, "joint6": 0.05415923578725399, "gripper": 0.008076578987761186}, "target_object": {"position_m": [0.17267853540876682, 0.1834090489963314, 0.1567995502470689], "quaternion_wxyz": [0.4369638878382908, 0.03277239154409408, -0.1214333661077053, 0.890641605065404], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06125316321087378}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06297883579459417}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06293213566786485}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06465832737720315}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06503156434467489}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06675842457259334}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0716277239132791}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07335767748425766}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06994515725468065}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07167451897059011}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06784273935828253}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0695713809495687}], "left_finger_force_n": 0.38361245096780416, "right_finger_force_n": 0.42401919793065873, "bilateral_contact": true, "supported": false, "lift_m": 0.05667818121918644}, "target_sequence": 11840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 296, "source_target": [-0.4799036383628845, -1.5697550773620605, 1.5854835510253906, 1.4676512479782104, -1.0777320861816406, 0.0], "source_tool_goal_m": [-0.0995241531526323, -0.22878149585171548, 0.08386154206223177], "target_tool_goal_m": [0.17176432503814576, 0.1832931753263108, 0.15967606841177034], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7030084836440488, "joint2": 1.4979891248178, "joint3": 1.391850273317856, "joint4": -1.2867314957980107, "joint5": -0.15996322305408675, "joint6": 0.05457337648148464, "gripper": 0.0}, "target_simulation_time": 23.75999999999771, "target_positions": {"joint1": 0.7009782247882761, "joint2": 1.4977448989295221, "joint3": 1.3902777843989158, "joint4": -1.288218254315862, "joint5": -0.15857689098318134, "joint6": 0.05421286016340776, "gripper": 0.008076506918177078}, "target_object": {"position_m": [0.17270760541255192, 0.1834871170073098, 0.15676389244581834], "quaternion_wxyz": [0.4369379697121579, 0.03281202774810114, -0.12149035435157207, 0.8906450893921809], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06123962418891573}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06297668363908183}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06293076568463507}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06466835171536886}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06504541663022868}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06678368093553863}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0716327116055217}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07337409108614606}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06993794300203018}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07167872196794142}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06782028487414893}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0695603333300135}], "left_finger_force_n": 0.3836445227937688, "right_finger_force_n": 0.4240040858658018, "bilateral_contact": true, "supported": false, "lift_m": 0.05664252341793588}, "target_sequence": 11880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 297, "source_target": [-0.4806790053844452, -1.5696297883987427, 1.5874499082565308, 1.4651278257369995, -1.0776721239089966, 0.0], "source_tool_goal_m": [-0.09970591936718054, -0.2287801745827168, 0.08358227026349746], "target_tool_goal_m": [0.17169643210427699, 0.18345843230291695, 0.15939679661303605], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7034713197495056, "joint2": 1.4987434418410381, "joint3": 1.391397168545965, "joint4": -1.286230167644902, "joint5": -0.16025968002821847, "joint6": 0.054680535813642926, "gripper": 0.0}, "target_simulation_time": 23.839999999997666, "target_positions": {"joint1": 0.7010665183537214, "joint2": 1.4978199281583016, "joint3": 1.390264996937114, "joint4": -1.287895461325329, "joint5": -0.15870034828442875, "joint6": 0.0542751514774508, "gripper": 0.008076564181577798}, "target_object": {"position_m": [0.17273668946999807, 0.18357148075955432, 0.15674393680161236], "quaternion_wxyz": [0.43690709214052814, 0.03284133685096667, -0.12159535961898649, 0.8906448270496383], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06122850201511719}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06299213811210339}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06291551348488042}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.064679683016843}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06502499800319125}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0667898545790649}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07161747783486505}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07338548911610733}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06992685890836416}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.071694262133057}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0678143832752751}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06958104676465673}], "left_finger_force_n": 0.38363068921120014, "right_finger_force_n": 0.4240195180323254, "bilateral_contact": true, "supported": false, "lift_m": 0.0566225677737299}, "target_sequence": 11920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 298, "source_target": [-0.4798882007598877, -1.5692853927612305, 1.5897523164749146, 1.4613902568817139, -1.0757637023925781, 0.0], "source_tool_goal_m": [-0.09965759323290085, -0.22905294607102303, 0.08323256390590049], "target_tool_goal_m": [0.17146755832576407, 0.18331094674651818, 0.15904709025543906], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7035774188243181, "joint2": 1.4991409622303105, "joint3": 1.3903543102595293, "joint4": -1.2865167940457125, "joint5": -0.16030239378246736, "joint6": 0.0547155874379691, "gripper": 0.0}, "target_simulation_time": 23.91999999999762, "target_positions": {"joint1": 0.7011569813398952, "joint2": 1.4979349309975836, "joint3": 1.390218370330071, "joint4": -1.2876569232413348, "joint5": -0.1588183314142977, "joint6": 0.05433348760464344, "gripper": 0.00807655697013854}, "target_object": {"position_m": [0.1727469929404959, 0.18363951230829892, 0.1567065605957116], "quaternion_wxyz": [0.4368820645588201, 0.03289870294528878, -0.12162948412212454, 0.8906503273471178], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06120921717853388}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06298870398005503}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06290430591231248}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06468433351805984}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06502389393455485}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06680461818387647}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07162052034063589}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07340443782752215}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06992179455437247}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0717050952325298}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06779919337347275}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06958174376627382}], "left_finger_force_n": 0.38361507270739253, "right_finger_force_n": 0.4240327850948069, "bilateral_contact": true, "supported": false, "lift_m": 0.05658519156782915}, "target_sequence": 11960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 299, "source_target": [-0.4789768159389496, -1.567367434501648, 1.5937676429748535, 1.4580048322677612, -1.0767163038253784, 0.0], "source_tool_goal_m": [-0.09941805306999334, -0.229001241753719, 0.08233852210746957], "target_tool_goal_m": [0.17160547445422908, 0.18311347825058982, 0.15815304845700817], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.702987023323894, "joint2": 1.5011932653196263, "joint3": 1.3887458365037875, "joint4": -1.2857791261556162, "joint5": -0.15977640164079826, "joint6": 0.054609569018605614, "gripper": 0.0}, "target_simulation_time": 23.999999999997577, "target_positions": {"joint1": 0.7012260427666736, "joint2": 1.498674310856632, "joint3": 1.3901289383740558, "joint4": -1.287366144557754, "joint5": -0.15886790622411195, "joint6": 0.054359701654473624, "gripper": 0.008076617348764172}, "target_object": {"position_m": [0.17279554726026597, 0.18371687749771304, 0.15651793949942214], "quaternion_wxyz": [0.4368890504829739, 0.03304109806504862, -0.1213800949761414, 0.8906756513739008], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06118757456035306}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06296821900899074}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06290780290136659}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06468899687392397}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06505883845712128}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06684074064396792}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07164177476873093}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07342687723453935}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06991783838407038}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07170231367759884}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0677637496465507}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06954746237432796}], "left_finger_force_n": 0.3836521724457236, "right_finger_force_n": 0.42400001608581817, "bilateral_contact": true, "supported": false, "lift_m": 0.056396570471539675}, "target_sequence": 12000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 300, "source_target": [-0.4808681011199951, -1.567341923713684, 1.5986664295196533, 1.452500820159912, -1.0772359371185303, 0.0], "source_tool_goal_m": [-0.09981025211820094, -0.22889654084186534, 0.08168158845384772], "target_tool_goal_m": [0.17155129896666013, 0.18350876898602955, 0.15749611480338632], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7039471813431696, "joint2": 1.5033356768521593, "joint3": 1.388042665711144, "joint4": -1.284662416706707, "joint5": -0.16030662652236333, "joint6": 0.05477294137900853, "gripper": 0.0}, "target_simulation_time": 24.079999999997533, "target_positions": {"joint1": 0.7013572580127224, "joint2": 1.500442092153759, "joint3": 1.3898309350697071, "joint4": -1.286932897894361, "joint5": -0.15896012090888867, "joint6": 0.05440832686862772, "gripper": 0.008076769389455778}, "target_object": {"position_m": [0.17286329355741858, 0.18383988455117276, 0.15604276461173391], "quaternion_wxyz": [0.4369401876327255, 0.033424610039295664, -0.12064351756963687, 0.8907363299785317], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061197083831883325}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06301286824653808}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06289535417945462}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06471169208331756}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06501892245664276}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06683597337357533}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07159838342521788}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07341866329365312}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06989649538008724}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07171614473803128}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06776994394525382}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0695888264047755}], "left_finger_force_n": 0.3836718941714117, "right_finger_force_n": 0.42398845718701883, "bilateral_contact": true, "supported": false, "lift_m": 0.05592139558385145}, "target_sequence": 12040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 301, "source_target": [-0.4819016456604004, -1.5649287700653076, 1.6021382808685303, 1.447473168373108, -1.0763108730316162, 0.0], "source_tool_goal_m": [-0.10006741941957989, -0.22892585886847605, 0.08080572343496017], "target_tool_goal_m": [0.17142697380831365, 0.18373072407811747, 0.15662024978449876], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7046670136154112, "joint2": 1.5060157750435417, "joint3": 1.3869647486222143, "joint4": -1.2840348649620632, "joint5": -0.16068630149747617, "joint6": 0.054900681605292795, "gripper": 0.0}, "target_simulation_time": 24.15999999999749, "target_positions": {"joint1": 0.701794216764882, "joint2": 1.5030483823710397, "joint3": 1.388960811376305, "joint4": -1.2864419247663497, "joint5": -0.15908269612150883, "joint6": 0.05447501906500263, "gripper": 0.008076543017417675}, "target_object": {"position_m": [0.17282447170407075, 0.18397796572965072, 0.15523214266585378], "quaternion_wxyz": [0.4369409012849932, 0.03410844168491291, -0.1192940782008637, 0.8908917924733002], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06117325508255259}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06300884395240804}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0628791587752893}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06471530949641789}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06501227498722698}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06684914960405165}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07160205619345766}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07344221702116728}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06989249639264979}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07173201651752874}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06775636294430945}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0695951038631173}], "left_finger_force_n": 0.38363799189794645, "right_finger_force_n": 0.4240202529322302, "bilateral_contact": true, "supported": false, "lift_m": 0.055110773637971316}, "target_sequence": 12080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 302, "source_target": [-0.4798639118671417, -1.5632990598678589, 1.6064780950546265, 1.4397841691970825, -1.0772957801818848, 0.0], "source_tool_goal_m": [-0.0998964984930346, -0.22951668271000986, 0.07997855460989002], "target_tool_goal_m": [0.17095641322306207, 0.1833512235375705, 0.15579308095942862], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7048042443946811, "joint2": 1.5076966481683727, "joint3": 1.3851681501077868, "joint4": -1.285284202298503, "joint5": -0.16057622967793492, "joint6": 0.05488734976106344, "gripper": 0.0}, "target_simulation_time": 24.239999999997444, "target_positions": {"joint1": 0.7022804029274732, "joint2": 1.5057601978007233, "joint3": 1.38715795172848, "joint4": -1.2861767037980194, "joint5": -0.1591957164642781, "joint6": 0.05452864761153725, "gripper": 0.008076794318413696}, "target_object": {"position_m": [0.17258663790954515, 0.183966883972172, 0.15416210358781002], "quaternion_wxyz": [0.4369781943092027, 0.035044218219073636, -0.11736471001811304, 0.8910934212023159], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0611944923346481}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06303425794542912}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06288783597752005}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06472816068890586}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06500524106136733}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0668462859491912}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07157614172232273}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07342046374290184}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0698791895282917}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07172287456736046}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06775880276931344}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06960171297119869}], "left_finger_force_n": 0.3836962739570617, "right_finger_force_n": 0.4239591853013889, "bilateral_contact": true, "supported": false, "lift_m": 0.054040734559927556}, "target_sequence": 12120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 303, "source_target": [-0.48153629899024963, -1.5626091957092285, 1.6098015308380127, 1.4382773637771606, -1.0793260335922241, 0.0], "source_tool_goal_m": [-0.10006391123613514, -0.2290718255559366, 0.07937867327957635], "target_tool_goal_m": [0.17129600159568198, 0.18367206131727934, 0.15519319962911493], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7049072814622936, "joint2": 1.5101631141206793, "joint3": 1.3850337714984404, "joint4": -1.2837527648148535, "joint5": -0.16057541980390433, "joint6": 0.054923284518872684, "gripper": 0.0}, "target_simulation_time": 24.3199999999974, "target_positions": {"joint1": 0.7025167925860526, "joint2": 1.5085925539677572, "joint3": 1.3857460072247536, "joint4": -1.285838052632165, "joint5": -0.15928982835322195, "joint6": 0.05457717544128204, "gripper": 0.008076677042155556}, "target_object": {"position_m": [0.1724643301618958, 0.18396678088411295, 0.15315358728296852], "quaternion_wxyz": [0.4371069846665743, 0.035897935714642885, -0.1155655420376974, 0.8912314108359608], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06115151880359951}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06301354897570016}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06285346313424828}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06471606168855319}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06498162578635777}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06684495659115337}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07159550418016618}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07346217348020849}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06988991184072271}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07175593291915855}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06775873306564811}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06962396573153858}], "left_finger_force_n": 0.3835611749796123, "right_finger_force_n": 0.4240862212174426, "bilateral_contact": true, "supported": false, "lift_m": 0.053032218255086055}, "target_sequence": 12160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 304, "source_target": [-0.48091819882392883, -1.5612269639968872, 1.6161397695541382, 1.4285277128219604, -1.0772520303726196, 0.0], "source_tool_goal_m": [-0.10015743885258176, -0.22953921420961895, 0.07832737135105347], "target_tool_goal_m": [0.17083680527763617, 0.18357917817211605, 0.15414189770059206], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7055672016007963, "joint2": 1.5127148546122624, "joint3": 1.383081814724068, "joint4": -1.2841710319415207, "joint5": -0.16091600514512547, "joint6": 0.05502944689975332, "gripper": 0.0}, "target_simulation_time": 24.399999999997355, "target_positions": {"joint1": 0.7028129753360928, "joint2": 1.5112158211696205, "joint3": 1.3844911009123966, "joint4": -1.2855249877343566, "joint5": -0.15939669927411548, "joint6": 0.054635531004997955, "gripper": 0.00807641316957074}, "target_object": {"position_m": [0.17235013184522496, 0.18399197886889543, 0.15223806559885641], "quaternion_wxyz": [0.43719630492223316, 0.036684633401382186, -0.11393779032042403, 0.8913651376239995], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06113045728050788}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06300796787448756}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0628386998534971}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06471678557249118}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06497474053257657}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06685356727820238}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07159998747899288}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07348219179499065}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06988807154173403}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0717696195763518}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06774899444315012}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06962974433991945}], "left_finger_force_n": 0.3835222183917627, "right_finger_force_n": 0.42411860917513894, "bilateral_contact": true, "supported": false, "lift_m": 0.05211669657097395}, "target_sequence": 12200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 305, "source_target": [-0.4810717701911926, -1.558709740638733, 1.6216702461242676, 1.4212664365768433, -1.0759867429733276, 0.0], "source_tool_goal_m": [-0.10025131086678404, -0.22965462131409484, 0.07715616794341543], "target_tool_goal_m": [0.17069651772316477, 0.18362039771759006, 0.152970694292954], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7059706119511326, "joint2": 1.5159922118106193, "joint3": 1.381369922730651, "joint4": -1.2836194262170912, "joint5": -0.1610297909940012, "joint6": 0.05509263780932509, "gripper": 0.0}, "target_simulation_time": 24.47999999999731, "target_positions": {"joint1": 0.7032847357955306, "joint2": 1.5138142970466963, "joint3": 1.3829935185301105, "joint4": -1.2852035030624556, "joint5": -0.15951456130025343, "joint6": 0.054696564560332325, "gripper": 0.00807649713776272}, "target_object": {"position_m": [0.17215680614831216, 0.18401217382132062, 0.15127229541135823], "quaternion_wxyz": [0.4372159312804203, 0.03752687641274018, -0.11221525486441374, 0.8915389501065066], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06114066113855089}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06303104761624598}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06285101108401253}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06474197785389663}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06498968851180088}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06688140299252064}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07157975715589429}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07347485460257763}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0698657434344619}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07176017916096966}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06772404631058011}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06961767732627937}], "left_finger_force_n": 0.38363578919702757, "right_finger_force_n": 0.424022257990763, "bilateral_contact": true, "supported": false, "lift_m": 0.051150926383475764}, "target_sequence": 12240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 306, "source_target": [-0.48068851232528687, -1.5569299459457397, 1.626469612121582, 1.4146744012832642, -1.07764732837677, 0.0], "source_tool_goal_m": [-0.10026255595815463, -0.2298433543149524, 0.07621558085007152], "target_tool_goal_m": [0.17052117386948146, 0.1835588517159291, 0.1520301071996101], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7062447392167123, "joint2": 1.5184719141878096, "joint3": 1.379841536740991, "joint4": -1.2834368578738393, "joint5": -0.16101947451904292, "joint6": 0.05511815480322959, "gripper": 0.0}, "target_simulation_time": 24.559999999997267, "target_positions": {"joint1": 0.7037102657067874, "joint2": 1.5165572232267939, "joint3": 1.381371433266011, "joint4": -1.2848956582353945, "joint5": -0.1596238949854682, "joint6": 0.05475112269860767, "gripper": 0.008076652300504191}, "target_object": {"position_m": [0.17195127527982823, 0.1840064335252024, 0.15024239022877012], "quaternion_wxyz": [0.43726547790461495, 0.0384190572424512, -0.11036067626970264, 0.8917081355503845], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06114077633319117}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06304157586577125}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0628485693673944}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06474995157696134}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06498404830741282}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06688618126205548}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07156863845532822}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07347416816199998}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06985719299569303}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07176205842759947}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06771870343702222}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06962276101834347}], "left_finger_force_n": 0.38365110271278646, "right_finger_force_n": 0.4240035224959864, "bilateral_contact": true, "supported": false, "lift_m": 0.050121021200887655}, "target_sequence": 12280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 307, "source_target": [-0.4806409180164337, -1.5548580884933472, 1.6306086778640747, 1.4059005975723267, -1.0750463008880615, 0.0], "source_tool_goal_m": [-0.10052643464729116, -0.23038172628557774, 0.0753558310966047], "target_tool_goal_m": [0.1699328859735767, 0.18359339529277302, 0.15117035744614327], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.707427724168153, "joint2": 1.5205183017656034, "joint3": 1.3781229448049364, "joint4": -1.2838977206801616, "joint5": -0.16164698347625064, "joint6": 0.055302001222066875, "gripper": 0.0}, "target_simulation_time": 24.639999999997222, "target_positions": {"joint1": 0.7044087821249537, "joint2": 1.519091792698598, "joint3": 1.3795712676714862, "joint4": -1.2846923932943437, "joint5": -0.15976959997839058, "joint6": 0.05482874214569693, "gripper": 0.008076239671978139}, "target_object": {"position_m": [0.17163565054372792, 0.18399950554690767, 0.149218409908709], "quaternion_wxyz": [0.43721167300787, 0.03935609611202679, -0.10847041206013558, 0.8919255688632232], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061099097909848396}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06302064709945361}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06281825166207372}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0647403935507533}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06496794092978295}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06689084663866511}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07158878249384484}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07351513996623618}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0698659330069805}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07179161416967543}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06771319946357358}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06963805828237483}], "left_finger_force_n": 0.38353717779057706, "right_finger_force_n": 0.42411272738268535, "bilateral_contact": true, "supported": false, "lift_m": 0.04909704088082653}, "target_sequence": 12320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 308, "source_target": [-0.4820116460323334, -1.5534814596176147, 1.6410948038101196, 1.3950634002685547, -1.0765537023544312, 0.0], "source_tool_goal_m": [-0.1007481028800541, -0.2301762716072081, 0.07369857984333697], "target_tool_goal_m": [0.1700348546248593, 0.18387241233117832, 0.14951310619287556], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7080365452450847, "joint2": 1.5253424220710792, "joint3": 1.3759396632334495, "joint4": -1.2817644253870935, "joint5": -0.16160713726633602, "joint6": 0.05535188526376132, "gripper": 0.0}, "target_simulation_time": 24.719999999997178, "target_positions": {"joint1": 0.7053142006297535, "joint2": 1.5221396041955455, "joint3": 1.3778483358850195, "joint4": -1.2842485264105623, "joint5": -0.15992236677840643, "joint6": 0.054905205062779947, "gripper": 0.008076605573348251}, "target_object": {"position_m": [0.1713452197386887, 0.18408857981392146, 0.1481024564322513], "quaternion_wxyz": [0.4370665207277971, 0.0403434416914403, -0.10649404155470502, 0.8921907208017418], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06114121559403487}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06307373925694744}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06285849270506877}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06479161290575466}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06500583614863595}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06693972508478332}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07154174765114862}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07347906538684776}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06982081440267411}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0717574526246675}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06767047470274487}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06960628669156922}], "left_finger_force_n": 0.383810621695225, "right_finger_force_n": 0.42387584145965207, "bilateral_contact": true, "supported": false, "lift_m": 0.04798108740436885}, "target_sequence": 12360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 309, "source_target": [-0.48050081729888916, -1.5524801015853882, 1.6453919410705566, 1.3884410858154297, -1.077202320098877, 0.0], "source_tool_goal_m": [-0.1005955616467328, -0.2305693338900907, 0.07297427639081364], "target_tool_goal_m": [0.16973656089287997, 0.1835847418144377, 0.14878880274035222], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.708148773089119, "joint2": 1.5270039315303863, "joint3": 1.374495984031782, "joint4": -1.2824357008293894, "joint5": -0.1613175624180253, "joint6": 0.05529840934058832, "gripper": 0.0}, "target_simulation_time": 24.799999999997134, "target_positions": {"joint1": 0.7058479866911724, "joint2": 1.52542815251062, "joint3": 1.375991123722391, "joint4": -1.2838990974740618, "joint5": -0.1600332774091324, "joint6": 0.054956300175394705, "gripper": 0.008076961462700804}, "target_object": {"position_m": [0.1710949386025307, 0.18408348587729173, 0.1468930938145158], "quaternion_wxyz": [0.43709575244201576, 0.041385904883138536, -0.10429729156970742, 0.8923881358721519], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06114465825479126}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0630785185010092}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06284715600072002}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06478160759636349}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06497601121461347}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0669112246453773}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0715321365299569}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07347078553754648}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06982601840968901}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07176399387498529}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06769418225542054}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06963133853552332}], "left_finger_force_n": 0.38373917621287473, "right_finger_force_n": 0.42391845514312154, "bilateral_contact": true, "supported": false, "lift_m": 0.04677172478663333}, "target_sequence": 12400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 310, "source_target": [-0.4812855124473572, -1.548738956451416, 1.6527063846588135, 1.3816583156585693, -1.078099250793457, 0.0], "source_tool_goal_m": [-0.10059540983001812, -0.230207908212411, 0.07130645154730088], "target_tool_goal_m": [0.17006421852538423, 0.18372198450717867, 0.14712097789683948], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7080088056752958, "joint2": 1.5321270430194265, "joint3": 1.372592518782932, "joint4": -1.2802980975438532, "joint5": -0.16090117862689332, "joint6": 0.05522922198626447, "gripper": 0.0}, "target_simulation_time": 24.87999999999709, "target_positions": {"joint1": 0.7059550607769816, "joint2": 1.52907939681916, "joint3": 1.3742862544084335, "joint4": -1.2833424378579712, "joint5": -0.1600729602288404, "joint6": 0.05498100786585976, "gripper": 0.008076783946856545}, "target_object": {"position_m": [0.17099900636499282, 0.18404929037146586, 0.14563947037539424], "quaternion_wxyz": [0.4373078485168371, 0.04236972245926904, -0.10209540712155922, 0.8924926778909622], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061083929086928335}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06302131516470015}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06280887170135016}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06474685711724382}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06496580166551413}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06690455955013137}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0715839339640357}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0735261962015933}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06985526083989112}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07179683847437376}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06769525367839241}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06963599895439831}], "left_finger_force_n": 0.38353133428586794, "right_finger_force_n": 0.4240934821126846, "bilateral_contact": true, "supported": false, "lift_m": 0.045518101347511775}, "target_sequence": 12440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 311, "source_target": [-0.48026925325393677, -1.545775055885315, 1.6591511964797974, 1.370720624923706, -1.0751458406448364, 0.0], "source_tool_goal_m": [-0.10062574827957475, -0.23074140897903336, 0.06997224503529477], "target_tool_goal_m": [0.1695691161349674, 0.18354669640241508, 0.14578677138483337], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7085586251547932, "joint2": 1.5355052674988208, "joint3": 1.3701846730135039, "joint4": -1.2806354746605066, "joint5": -0.16118679458960464, "joint6": 0.055309972991943665, "gripper": 0.0}, "target_simulation_time": 24.959999999997045, "target_positions": {"joint1": 0.7060468262637087, "joint2": 1.5330702732366441, "joint3": 1.372235627580348, "joint4": -1.2828318712836246, "joint5": -0.1601234230175086, "joint6": 0.05501315355063919, "gripper": 0.008076727185626513}, "target_object": {"position_m": [0.17085067202711027, 0.1839662212007182, 0.14422717502567303], "quaternion_wxyz": [0.4375671974153844, 0.043498362172170055, -0.09956936088709484, 0.8925966516892836], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06109087737820398}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06304394060479607}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06280117447484951}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06475483687246926}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06493978426006726}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06689421868262883}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07156196013792263}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07351989988172715}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06984799522556169}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07180525148092014}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06770635770743953}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06966278276059086}], "left_finger_force_n": 0.3835248322730149, "right_finger_force_n": 0.424104247194162, "bilateral_contact": true, "supported": false, "lift_m": 0.04410580599779057}, "target_sequence": 12480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 312, "source_target": [-0.4818342328071594, -1.54453444480896, 1.6677894592285156, 1.360009789466858, -1.0759103298187256, 0.0], "source_tool_goal_m": [-0.10098918768734601, -0.23072052893565229, 0.06861684520502752], "target_tool_goal_m": [0.16944989628641682, 0.18388405823709236, 0.1444313715545661], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7094607298780958, "joint2": 1.5398438176943103, "joint3": 1.368641446357302, "joint4": -1.2793125353259929, "joint5": -0.1617926394672011, "joint6": 0.0554982103150759, "gripper": 0.0}, "target_simulation_time": 25.039999999997, "target_positions": {"joint1": 0.7064964154602816, "joint2": 1.537310216833617, "joint3": 1.3701716657723921, "joint4": -1.2822584673648838, "joint5": -0.16022306095924257, "joint6": 0.055076182513756074, "gripper": 0.008076231866054943}, "target_object": {"position_m": [0.17063699722351508, 0.1839520090302732, 0.1427547146388229], "quaternion_wxyz": [0.4376925363018321, 0.04470990824412752, -0.09694006066106539, 0.8927647463971127], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06105596278917586}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0630338618675759}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06278326003907508}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06476177200884015}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06494313506028956}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0669224369889405}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07157402393168662}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0735568911882334}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06984300243442279}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07182516993346647}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06768006136353426}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06966137811168463}], "left_finger_force_n": 0.38350042875389706, "right_finger_force_n": 0.4241405269630282, "bilateral_contact": true, "supported": false, "lift_m": 0.042633345610940426}, "target_sequence": 12520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 313, "source_target": [-0.4822666347026825, -1.5415222644805908, 1.6756080389022827, 1.3495702743530273, -1.074186086654663, 0.0], "source_tool_goal_m": [-0.10113700859703352, -0.2308130640314366, 0.06706153079419531], "target_tool_goal_m": [0.1693098338207, 0.18398287141492256, 0.14287605714373391], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7100163082043657, "joint2": 1.544496039739976, "joint3": 1.3666012308204798, "joint4": -1.2782956790840287, "joint5": -0.16194290804059072, "joint6": 0.055579617291358296, "gripper": 0.0}, "target_simulation_time": 25.119999999996956, "target_positions": {"joint1": 0.7072438239053109, "joint2": 1.5418629861586797, "joint3": 1.3682774801753923, "joint4": -1.2815901383463104, "joint5": -0.1603487401013785, "joint6": 0.05514700233833696, "gripper": 0.00807642021594876}, "target_object": {"position_m": [0.1704135631703161, 0.18403761547052808, 0.14125408456083155], "quaternion_wxyz": [0.43768106484197417, 0.045955438706372614, -0.0942896491474518, 0.8929909547110498], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06108941238409105}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06307708266175402}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06281412980074152}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06480241600548638}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06497077903635992}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06695985906736372}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07153509254588504}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07352771498557678}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06980669014351139}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07179861048988725}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06764702051391133}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06963808726092824}], "left_finger_force_n": 0.3837136789557966, "right_finger_force_n": 0.42395321593970003, "bilateral_contact": true, "supported": false, "lift_m": 0.04113271553294909}, "target_sequence": 12560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 314, "source_target": [-0.4826471507549286, -1.5392656326293945, 1.684862732887268, 1.339145541191101, -1.0748587846755981, 0.0], "source_tool_goal_m": [-0.10117564332521423, -0.23071075344600822, 0.06542809762129986], "target_tool_goal_m": [0.16938788386354026, 0.18405677926032193, 0.14124262397083845], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7102195360451145, "joint2": 1.549645428533378, "joint3": 1.3647850040664335, "joint4": -1.2769520301152684, "joint5": -0.16168550985629718, "joint6": 0.05555616150750874, "gripper": 0.0}, "target_simulation_time": 25.199999999996912, "target_positions": {"joint1": 0.707804175760707, "joint2": 1.5467653479516768, "joint3": 1.3664615890179783, "joint4": -1.280817116861959, "joint5": -0.16044717918014045, "joint6": 0.055200740550894814, "gripper": 0.00807681432292132}, "target_object": {"position_m": [0.17026009135282524, 0.18411891802725872, 0.13969174400912157], "quaternion_wxyz": [0.43774620952568605, 0.04721080105707505, -0.09156162759156868, 0.8931773982038662], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06111038656462158}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0631011340016017}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06282708993387258}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06481845161520534}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06497371472450719}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06696586794127973}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07151060415469117}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07350628939269793}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06979024952253003}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0717852351122325}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06764063147191753}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06963476632988695}], "left_finger_force_n": 0.3837966447810881, "right_finger_force_n": 0.4238677759839561, "bilateral_contact": true, "supported": false, "lift_m": 0.03957037498123911}, "target_sequence": 12600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 315, "source_target": [-0.48284733295440674, -1.5363500118255615, 1.691683053970337, 1.3287073373794556, -1.0725890398025513, 0.0], "source_tool_goal_m": [-0.10134468373699732, -0.23095143161697224, 0.06404076131447506], "target_tool_goal_m": [0.1691054773275981, 0.18411851584463462, 0.13985528766401364], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7109658964214659, "joint2": 1.5539946904340207, "joint3": 1.363083463880421, "joint4": -1.2766203827092653, "joint5": -0.161936324144399, "joint6": 0.055645447947518696, "gripper": 0.0}, "target_simulation_time": 25.279999999996868, "target_positions": {"joint1": 0.7082700441910202, "joint2": 1.5517284807004403, "joint3": 1.364620020521378, "joint4": -1.28007960034012, "joint5": -0.1605421899930948, "joint6": 0.05525834699986121, "gripper": 0.00807658017586672}, "target_object": {"position_m": [0.17011125539787103, 0.1841678195883763, 0.1381088791947269], "quaternion_wxyz": [0.4378631653161161, 0.0484816802655541, -0.08877601009500757, 0.8933331938138157], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06107371030604025}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06307622020524921}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0627941853922509}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06479731386661836}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06494552700991836}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06694945265876144}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07153186437266032}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07353937166386071}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06980770645183318}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0718145083465947}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06765333763486617}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06965928184007926}], "left_finger_force_n": 0.38363640943883853, "right_finger_force_n": 0.42400607030989435, "bilateral_contact": true, "supported": false, "lift_m": 0.03798751016684443}, "target_sequence": 12640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 316, "source_target": [-0.4833548367023468, -1.5340793132781982, 1.7000806331634521, 1.3163594007492065, -1.074110984802246, 0.004101562313735485], "source_tool_goal_m": [-0.1015928369650476, -0.23118692057977422, 0.0625636318948739], "target_tool_goal_m": [0.16879770303594496, 0.18425393354618788, 0.1383781582444125], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7118876996267564, "joint2": 1.558675796459713, "joint3": 1.3613086725959014, "joint4": -1.2760964033847444, "joint5": -0.1623461809223907, "joint6": 0.05578431252834956, "gripper": 0.00021986717751515766}, "target_simulation_time": 25.359999999996823, "target_positions": {"joint1": 0.7089809616568111, "joint2": 1.5564963779819043, "joint3": 1.3627711848532753, "joint4": -1.2793827370206137, "joint5": -0.16066651081516037, "joint6": 0.0553321836752205, "gripper": 0.00807850389022788}, "target_object": {"position_m": [0.1698912422051671, 0.18424301327557724, 0.1365721783367884], "quaternion_wxyz": [0.4378683509429828, 0.04974619473954627, -0.08605376759363303, 0.8935274883484843], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05938011064373258}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06139556839366861}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06110610045901927}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06312216771318728}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0632643221739662}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0652811755850049}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06984409951804581}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07186449836159745}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06811447993354733}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07013418157141463}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06595327120943764}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06797212571672225}], "left_finger_force_n": 0.37354944496857884, "right_finger_force_n": 0.4138826563107651, "bilateral_contact": true, "supported": false, "lift_m": 0.03645080930890593}, "target_sequence": 12680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 317, "source_target": [-0.4838322401046753, -1.5325396060943604, 1.7097152471542358, 1.3062126636505127, -1.0757474899291992, 0.0], "source_tool_goal_m": [-0.10159636787068584, -0.2309694709563921, 0.061002740950694606], "target_tool_goal_m": [0.16899345947498806, 0.18433978804144438, 0.1368172673002332], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7118791702055965, "joint2": 1.5638706697532812, "joint3": 1.3598630017964646, "joint4": -1.274601298830936, "joint5": -0.16200411346338803, "joint6": 0.05574287807049993, "gripper": 0.0}, "target_simulation_time": 25.43999999999678, "target_positions": {"joint1": 0.7095363390058591, "joint2": 1.5613396910186006, "joint3": 1.3612123895792336, "joint4": -1.2785890906471769, "joint5": -0.16076609246331722, "joint6": 0.05538692242487266, "gripper": 0.00807744552047035}, "target_object": {"position_m": [0.16976090899121318, 0.1843424422904467, 0.13508520224203477], "quaternion_wxyz": [0.4379081612124594, 0.050931495936931595, -0.08347065112285011, 0.8936862287549674], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06099914308000908}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06301570767391687}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06271638225608242}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0647335673105339}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06486367465784182}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06688165934316515}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07138360688815973}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07340515297883976}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06966273202646718}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07168357132358966}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0675124613210441}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06953244128076208}], "left_finger_force_n": 0.3832101343215492, "right_finger_force_n": 0.4231799658188625, "bilateral_contact": true, "supported": false, "lift_m": 0.03496383321415231}, "target_sequence": 12720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 318, "source_target": [-0.4835394620895386, -1.5294028520584106, 1.7152214050292969, 1.295375108718872, -1.0728788375854492, 0.0013671874767169356], "source_tool_goal_m": [-0.10178072695306029, -0.2314656240334934, 0.05978047960361221], "target_tool_goal_m": [0.16847366514617282, 0.18431830191636114, 0.1355950059531508], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7128721370864237, "joint2": 1.5676274292136771, "joint3": 1.3581673744129719, "joint4": -1.2750136875064426, "joint5": -0.16242880522683628, "joint6": 0.05587073265546357, "gripper": 7.32890612518947e-05}, "target_simulation_time": 25.519999999996735, "target_positions": {"joint1": 0.7100523428549872, "joint2": 1.5658899391684666, "joint3": 1.3595983788928183, "joint4": -1.277919807605239, "joint5": -0.1608743341673121, "joint6": 0.05545183835826329, "gripper": 0.008077347272118597}, "target_object": {"position_m": [0.16959807635984525, 0.18439737467627804, 0.1336548514145071], "quaternion_wxyz": [0.43796892255485004, 0.05209178625806295, -0.08094359755375666, 0.8938220195853556], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06048465142197978}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06251260249137298}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.062207265631863344}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06423583856166523}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06436127631826326}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06639065089303958}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07094429093542656}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0729772723757583}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06921801258630095}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07125028411205932}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06706098857704568}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06909239713041138}], "left_finger_force_n": 0.38019228531818416, "right_finger_force_n": 0.4205432457170022, "bilateral_contact": true, "supported": false, "lift_m": 0.033533482386624625}, "target_sequence": 12760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 319, "source_target": [-0.48385098576545715, -1.5270788669586182, 1.725165605545044, 1.283193826675415, -1.0750341415405273, 0.0], "source_tool_goal_m": [-0.10183533973796084, -0.2314185813847483, 0.05806557643272693], "target_tool_goal_m": [0.16849554640118147, 0.18438568472570943, 0.13388010278226553], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.713115047479943, "joint2": 1.5731032402915586, "joint3": 1.3562972639994653, "joint4": -1.2736382075403734, "joint5": -0.16228934782264492, "joint6": 0.05587797462437708, "gripper": 0.0}, "target_simulation_time": 25.59999999999669, "target_positions": {"joint1": 0.7105797274521799, "joint2": 1.5703687354446745, "joint3": 1.3579461557986137, "joint4": -1.277190962288464, "joint5": -0.1609731234546443, "joint6": 0.05550822083769476, "gripper": 0.008076934045519065}, "target_object": {"position_m": [0.16942467506361367, 0.1844480434163184, 0.13223587223914174], "quaternion_wxyz": [0.4380085314844351, 0.053227986530638385, -0.07845849676327171, 0.893957254057704], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06105302562437681}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06308358906745165}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06277366510640611}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06480485579057241}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06492521214530032}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0669572111960819}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07145456912635723}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07349017046162648}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06973027141593878}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07176515810034549}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0675757270262434}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06960974481338142}], "left_finger_force_n": 0.3835975589301892, "right_finger_force_n": 0.42362564094389277, "bilateral_contact": true, "supported": false, "lift_m": 0.03211450321125928}, "target_sequence": 12800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 320, "source_target": [-0.4823670983314514, -1.5241883993148804, 1.7343647480010986, 1.2734143733978271, -1.074587106704712, 0.0], "source_tool_goal_m": [-0.10142161814129429, -0.23130913768019867, 0.056325152809420284], "target_tool_goal_m": [0.16875200562003673, 0.1840522835237217, 0.13213967915895886], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7121263927239235, "joint2": 1.578389696397714, "joint3": 1.354212908094696, "joint4": -1.2724776749665312, "joint5": -0.16131137488220726, "joint6": 0.055653573468464355, "gripper": 0.0}, "target_simulation_time": 25.679999999996646, "target_positions": {"joint1": 0.7106844646176499, "joint2": 1.5752705795410487, "joint3": 1.356184808023896, "joint4": -1.2763728314179859, "joint5": -0.1609568712026, "joint6": 0.05550947560234757, "gripper": 0.008076841936986191}, "target_object": {"position_m": [0.16934251073771972, 0.18441261829545708, 0.13069325975670804], "quaternion_wxyz": [0.4382299814151468, 0.0543767181312273, -0.07576650306979736, 0.8940117968610545], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061043812477846814}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0630523030750353}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0627904346773441}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06479955492497431}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06497448353726491}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06698441564833638}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07154280865202}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07355636597662438}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0697924081471197}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07180524618328196}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06760526307747729}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06961722690899343}], "left_finger_force_n": 0.38364500434080184, "right_finger_force_n": 0.42391931894551677, "bilateral_contact": true, "supported": false, "lift_m": 0.030571890728825574}, "target_sequence": 12840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 321, "source_target": [-0.48223432898521423, -1.522247076034546, 1.7430455684661865, 1.2626972198486328, -1.0748138427734375, 0.0068359375], "source_tool_goal_m": [-0.10138652938419115, -0.23130183803504353, 0.05485023915937198], "target_tool_goal_m": [0.16877195956262842, 0.18402325335948946, 0.13066476550891057], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7120638208067764, "joint2": 1.5832132678281092, "joint3": 1.3526721141928404, "joint4": -1.271531917144173, "joint5": -0.16120176878795722, "joint6": 0.0556312807382509, "gripper": 0.0003664453125}, "target_simulation_time": 25.7599999999966, "target_positions": {"joint1": 0.7107347247741461, "joint2": 1.580495618502336, "joint3": 1.3543500193781168, "joint4": -1.2755305236558514, "joint5": -0.1608983667969075, "joint6": 0.05549894610895639, "gripper": 0.00808024201752552}, "target_object": {"position_m": [0.1692647428519065, 0.18435213024638933, 0.1290570503164445], "quaternion_wxyz": [0.43849014300042927, 0.0555773343074705, -0.0728912188135005, 0.8940494531191328], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05824124932756606}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06025558468684574}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0599891144391674}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.062004056746303}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.062174687456333734}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06419041335711806}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06874220362546592}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0707614271268121}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06699070340406416}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06900923108732887}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06480215297456926}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06681983589485882}], "left_finger_force_n": 0.366855106013334, "right_finger_force_n": 0.40712555411309914, "bilateral_contact": true, "supported": false, "lift_m": 0.028935681288562026}, "target_sequence": 12880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 322, "source_target": [-0.4836370646953583, -1.5196621417999268, 1.751196026802063, 1.2520520687103271, -1.07435142993927, 0.0013671874767169356], "source_tool_goal_m": [-0.10164888177967181, -0.2311639907277157, 0.05333840055896977], "target_tool_goal_m": [0.16879718388173068, 0.18431344892770798, 0.12915292690850835], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.712640900605216, "joint2": 1.5885401238414538, "joint3": 1.351487156001438, "joint4": -1.2699954714540527, "joint5": -0.16153274671975337, "joint6": 0.05573140028013264, "gripper": 7.32890612518947e-05}, "target_simulation_time": 25.839999999996557, "target_positions": {"joint1": 0.7108013339717961, "joint2": 1.585925611003392, "joint3": 1.3528189813476965, "joint4": -1.2745758043648445, "joint5": -0.16088060979039262, "joint6": 0.05550947023400991, "gripper": 0.008078399936134998}, "target_object": {"position_m": [0.1692495158084431, 0.1843567036678566, 0.12744022470893915], "quaternion_wxyz": [0.43873857913287045, 0.056758105336819784, -0.0701128859917425, 0.8940755895767163], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.060311280269811286}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.062349411963090226}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06204666036689064}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06408541883530805}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06421663633933837}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06625620310158901}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07077733667035459}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07282048874732504}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06903829593461969}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07108073258767406}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0668653272977004}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0689068945977555}], "left_finger_force_n": 0.3792656108760276, "right_finger_force_n": 0.41948907583542927, "bilateral_contact": true, "supported": false, "lift_m": 0.027318855681056686}, "target_sequence": 12920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 323, "source_target": [-0.48293277621269226, -1.517404317855835, 1.7616184949874878, 1.2414634227752686, -1.0746570825576782, 0.0054687499068677425], "source_tool_goal_m": [-0.10133036657981312, -0.23087665002719382, 0.05155273357046897], "target_tool_goal_m": [0.16917870217096714, 0.18413396360615633, 0.12736725992000755], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7116348719738473, "joint2": 1.5945445414772315, "joint3": 1.3499355979096628, "joint4": -1.2684746983932265, "joint5": -0.1607718234845396, "joint6": 0.05555087397877777, "gripper": 0.0002931562450075788}, "target_simulation_time": 25.919999999996513, "target_positions": {"joint1": 0.7108361779405676, "joint2": 1.5915534542359389, "joint3": 1.3514523832668528, "joint4": -1.2729323322481163, "joint5": -0.16078793074213216, "joint6": 0.05548601220470658, "gripper": 0.008079896192507206}, "target_object": {"position_m": [0.16939892803518067, 0.18447763657408625, 0.1257961064778157], "quaternion_wxyz": [0.43895295855896227, 0.05777277832988416, -0.06762397138774152, 0.89409708910729], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05873908031948827}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06075894922820257}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06050013220828586}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0625206186004948}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06270220565362543}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06472348928910422}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0692373627386348}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07126216858208174}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0674726242963983}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06949672263172045}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06526754441659612}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06729078385895788}], "left_finger_force_n": 0.36994447529920116, "right_finger_force_n": 0.4100272065243893, "bilateral_contact": true, "supported": false, "lift_m": 0.025674737449933233}, "target_sequence": 12960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 324, "source_target": [-0.48343372344970703, -1.5151336193084717, 1.769529104232788, 1.2307462692260742, -1.0752336978912354, 0.0], "source_tool_goal_m": [-0.10144431673162112, -0.2308634024072215, 0.05013903145339234], "target_tool_goal_m": [0.1691473967393759, 0.18424228469602988, 0.12595355780293094], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7119499248815028, "joint2": 1.5994342161593937, "joint3": 1.3487112627556543, "joint4": -1.2674490581840683, "joint5": -0.16090756112292, "joint6": 0.05558106516355035, "gripper": 0.0}, "target_simulation_time": 25.99999999999647, "target_positions": {"joint1": 0.7108749280506845, "joint2": 1.5971629705563317, "joint3": 1.3501666067528442, "joint4": -1.2716734799343459, "joint5": -0.1607060179314773, "joint6": 0.0554680070293467, "gripper": 0.008077571044236384}, "target_object": {"position_m": [0.16948806411799353, 0.1845470370332533, 0.12418126252239976], "quaternion_wxyz": [0.4391778084911285, 0.05884597185332719, -0.06501053037623894, 0.8941105273207373], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06090229107289509}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06293864423879329}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06265096500945282}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06468795549536328}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06483757798707532}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06687539033899051}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07136725673904883}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0734086565627709}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06961487574312225}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07165554918425082}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06742525233586344}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06946504311845829}], "left_finger_force_n": 0.3828928241425703, "right_finger_force_n": 0.42293663368351453, "bilateral_contact": true, "supported": false, "lift_m": 0.0240598934945173}, "target_sequence": 13000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 325, "source_target": [-0.48146718740463257, -1.5128077268600464, 1.7795292139053345, 1.2201011180877686, -1.0769976377487183, 0.0068359375], "source_tool_goal_m": [-0.10091138803856997, -0.23073447985497478, 0.04841071192795926], "target_tool_goal_m": [0.16946682319395062, 0.18380823700366455, 0.12422523827749785], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7105560556926701, "joint2": 1.6050713495984705, "joint3": 1.3469948779422345, "joint4": -1.2665476326129899, "joint5": -0.15984179790149516, "joint6": 0.05529809384649186, "gripper": 0.0003664453125}, "target_simulation_time": 26.079999999996424, "target_positions": {"joint1": 0.7108694565367286, "joint2": 1.6025097210842034, "joint3": 1.3486727580845634, "joint4": -1.270740749624958, "joint5": -0.1605194916738945, "joint6": 0.0554005499624355, "gripper": 0.008080358266678475}, "target_object": {"position_m": [0.1694841859388294, 0.18450099262301206, 0.12258963886211864], "quaternion_wxyz": [0.43940897487858943, 0.059920924824390334, -0.062255933058578156, 0.8941215993159672], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.058224799675733546}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06023356077714947}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06000196181604033}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0620113387621382}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06222418292333347}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06423435542097919}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06872937897610532}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07074302419587376}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06694851892822028}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06896145808102189}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06472329807026038}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0667353804887815}], "left_finger_force_n": 0.3669301993753742, "right_finger_force_n": 0.4068410587402631, "bilateral_contact": true, "supported": false, "lift_m": 0.02246826983423618}, "target_sequence": 13040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 326, "source_target": [-0.4831219017505646, -1.510457158088684, 1.7859598398208618, 1.2095518112182617, -1.0748543739318848, 0.0013671874767169356], "source_tool_goal_m": [-0.10133596569740293, -0.23080039162867375, 0.047202515147937524], "target_tool_goal_m": [0.16924569530052294, 0.18416802502737706, 0.12301704149747611], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7117364042708946, "joint2": 1.6096381409557918, "joint3": 1.3462529374819154, "joint4": -1.265721705308172, "joint5": -0.16053227625619182, "joint6": 0.05546171127173705, "gripper": 7.32890612518947e-05}, "target_simulation_time": 26.15999999999638, "target_positions": {"joint1": 0.7108956020362545, "joint2": 1.6076624979607326, "joint3": 1.3473497221141941, "joint4": -1.2698608669405669, "joint5": -0.16041121576412515, "joint6": 0.055371293692462686, "gripper": 0.008078458801396873}, "target_object": {"position_m": [0.1694755383217161, 0.18447533950741776, 0.12108055330730554], "quaternion_wxyz": [0.4396273739144025, 0.060976554607738834, -0.05964624672897109, 0.8941207732428785], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06032895222322983}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.062375758368935864}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06206797921656816}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06411541702200813}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0642425182087379}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06629077064561634}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07074823338687632}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07280003474514504}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06900557789865448}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0710566596233283}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06682809403081898}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06887830137130992}], "left_finger_force_n": 0.3794213956850962, "right_finger_force_n": 0.41931690105613306, "bilateral_contact": true, "supported": false, "lift_m": 0.020959184279423074}, "target_sequence": 13080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 327, "source_target": [-0.48241952061653137, -1.5081331729888916, 1.7992019653320312, 1.1991225481033325, -1.0748341083526611, 0.0027343749534338713], "source_tool_goal_m": [-0.10072920749702077, -0.2299619529094105, 0.0450083294648739], "target_tool_goal_m": [0.1702362975422696, 0.18393674932370113, 0.12082285581441249], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7096170392409753, "joint2": 1.6171295280871225, "joint3": 1.344796465934289, "joint4": -1.2625976095672706, "joint5": -0.15887275563896133, "joint6": 0.055045464628027646, "gripper": 0.0001465781225037894}, "target_simulation_time": 26.239999999996336, "target_positions": {"joint1": 0.7108594609277411, "joint2": 1.6132245367563316, "joint3": 1.3462975919978764, "joint4": -1.2671565605595831, "joint5": -0.16015143575078078, "joint6": 0.05527391950634207, "gripper": 0.008078457614847044}, "target_object": {"position_m": [0.16986992525747488, 0.18474277887986842, 0.11947977121229846], "quaternion_wxyz": [0.4397686511315472, 0.06163064238854704, -0.05778229336320379, 0.8941288519975208], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05988037162357464}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.061883255199282845}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06166854804002603}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06367206493610857}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0639045666639122}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06590890123792445}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07035932235567433}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07236715377426037}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06856737048382952}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07057447836357143}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06632831505706065}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06833454464676937}], "left_finger_force_n": 0.3769177077008287, "right_finger_force_n": 0.4165311846811657, "bilateral_contact": true, "supported": false, "lift_m": 0.019358402184415993}, "target_sequence": 13120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 328, "source_target": [-0.4810780882835388, -1.5049821138381958, 1.8043807744979858, 1.187932014465332, -1.0753412246704102, 0.0], "source_tool_goal_m": [-0.10071003103397864, -0.23053307001013804, 0.04385061833723433], "target_tool_goal_m": [0.16972592026959105, 0.1837022821779265, 0.11966514468677292], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7101414853514773, "joint2": 1.6204515924133587, "joint3": 1.3428665831268292, "joint4": -1.2629531143058241, "joint5": -0.15903087941628477, "joint6": 0.0550256962886032, "gripper": 0.0}, "target_simulation_time": 26.31999999999629, "target_positions": {"joint1": 0.7108302673948268, "joint2": 1.6187256082335146, "joint3": 1.3449159097813737, "joint4": -1.2660271013089128, "joint5": -0.1599077771845757, "joint6": 0.0551810865132817, "gripper": 0.008077272803108973}, "target_object": {"position_m": [0.16992541978619008, 0.18472200155706214, 0.11786551577401372], "quaternion_wxyz": [0.43998269129694345, 0.06263946597354694, -0.055107047207444304, 0.8941223305620574], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061016117380064655}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0630377474412656}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06277018779743457}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06479245520737992}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06496355500865054}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06698664432432824}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07141750854519956}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07344410109632725}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06965976178853667}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07168562980825105}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06746343841762795}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06948842609463916}], "left_finger_force_n": 0.38356670715912355, "right_finger_force_n": 0.42315886575058165, "bilateral_contact": true, "supported": false, "lift_m": 0.017744146746131256}, "target_sequence": 13160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 329, "source_target": [-0.4810660183429718, -1.5027114152908325, 1.8141577243804932, 1.1772148609161377, -1.0758187770843506, 0.0], "source_tool_goal_m": [-0.10053252886323749, -0.2301965380828666, 0.04218191403314854], "target_tool_goal_m": [0.17009842600011982, 0.18366931041837228, 0.11799644038268714], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.709521045311994, "joint2": 1.6263448944821501, "joint3": 1.34177001212504, "joint4": -1.2611697466862024, "joint5": -0.15839602490915577, "joint6": 0.05483589747215945, "gripper": 0.0}, "target_simulation_time": 26.399999999996247, "target_positions": {"joint1": 0.7107856982844157, "joint2": 1.623783180341246, "joint3": 1.3432075282740727, "joint4": -1.2651873822389834, "joint5": -0.1596277467078554, "joint6": 0.055072379247417515, "gripper": 0.008076724526864965}, "target_object": {"position_m": [0.16984376240551016, 0.18457006589735023, 0.11629364163473138], "quaternion_wxyz": [0.44020102614537443, 0.06367473343006781, -0.052320924065955204, 0.8941091129208197], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061081487545240974}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0631002549623594}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06284636029898419}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06486576935870517}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06505324206970672}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06707347870083456}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07149071955897718}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07351448636591239}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06972211366780807}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07174515036454648}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06751222994211228}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06953437962330239}], "left_finger_force_n": 0.384020592935831, "right_finger_force_n": 0.42351907952265877, "bilateral_contact": true, "supported": false, "lift_m": 0.01617227260684892}, "target_sequence": 13200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 330, "source_target": [-0.4811483323574066, -1.5004558563232422, 1.8197895288467407, 1.166569709777832, -1.0746387243270874, 0.0], "source_tool_goal_m": [-0.10072067319249699, -0.2305243208721851, 0.04111752996127685], "target_tool_goal_m": [0.16972980542245147, 0.18371525394456445, 0.11693205631081544], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7103399351075357, "joint2": 1.630046251603598, "joint3": 1.340672448945649, "joint4": -1.2611425380089112, "joint5": -0.1588009952885072, "joint6": 0.05489954594140005, "gripper": 0.0}, "target_simulation_time": 26.479999999996203, "target_positions": {"joint1": 0.710765763624352, "joint2": 1.6285462166583033, "joint3": 1.3417963448929136, "joint4": -1.2644334648246194, "joint5": -0.15941417778385034, "joint6": 0.054994396827516064, "gripper": 0.008076626822999195}, "target_object": {"position_m": [0.16978299850353373, 0.18445989257120632, 0.11485630614897144], "quaternion_wxyz": [0.4403979016217002, 0.06464420059933308, -0.04977398835043892, 0.8940880077821017], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06111844886003915}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06316405486008021}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06285023859073878}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06489648281323163}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06501573616554135}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06706280301399861}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07144400908029189}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07349461891810476}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06970860064266082}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07175848567410877}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06754017902174644}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0695891829933931}], "left_finger_force_n": 0.38410776430362975, "right_finger_force_n": 0.4235350763303058, "bilateral_contact": true, "supported": false, "lift_m": 0.014734937121088976}, "target_sequence": 13240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 331, "source_target": [-0.4821662902832031, -1.4981980323791504, 1.8287256956100464, 1.1559810638427734, -1.076390027999878, 0.0], "source_tool_goal_m": [-0.10078454815540912, -0.23017619619492571, 0.039577283670197486], "target_tool_goal_m": [0.17002106988806148, 0.1839054753657329, 0.11539181001973609], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7103112334853364, "joint2": 1.6355952877086297, "joint3": 1.339811491983864, "joint4": -1.2590959292576882, "joint5": -0.15857812110518532, "joint6": 0.054832864739057054, "gripper": 0.0}, "target_simulation_time": 26.55999999999616, "target_positions": {"joint1": 0.7107496093960349, "joint2": 1.6331810993107696, "joint3": 1.3409167200268495, "joint4": -1.2635293540607244, "joint5": -0.15921396517242173, "joint6": 0.05492313705165897, "gripper": 0.008076578900799278}, "target_object": {"position_m": [0.1698376066631512, 0.1844542480473049, 0.11356121795346273], "quaternion_wxyz": [0.4405591826885284, 0.06546124669311745, -0.047600983996847666, 0.8940674348463499], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06113390582983552}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0631881840099361}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06286659726589329}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06492151694120464}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0650332231632117}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06708896970613157}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07142342478959465}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07348273495912343}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0696871071498874}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07174568863818687}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06751755050896714}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06957524624537016}], "left_finger_force_n": 0.3842323969162128, "right_finger_force_n": 0.42343175229112967, "bilateral_contact": true, "supported": false, "lift_m": 0.01343984892558027}, "target_sequence": 13280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 332, "source_target": [-0.4797442555427551, -1.495927333831787, 1.8391177654266357, 1.145263910293579, -1.0767230987548828, 0.0], "source_tool_goal_m": [-0.10008440894630152, -0.22993436667418907, 0.03783279039763705], "target_tool_goal_m": [0.17050639420003996, 0.18336278304241468, 0.11364731674717565], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7084757758183624, "joint2": 1.6412723702825496, "joint3": 1.3381882396339506, "joint4": -1.2578063533708488, "joint5": -0.15706321224830222, "joint6": 0.054417186726774314, "gripper": 0.0}, "target_simulation_time": 26.639999999996114, "target_positions": {"joint1": 0.7106756520040597, "joint2": 1.6381176273877933, "joint3": 1.3400224351926948, "joint4": -1.2620197164744753, "joint5": -0.15887179748848307, "joint6": 0.054785936748197345, "gripper": 0.008076609663631761}, "target_object": {"position_m": [0.17002752256968703, 0.18451294196701912, 0.11217025810849295], "quaternion_wxyz": [0.4407020492071643, 0.06614911320839377, -0.045551029054610656, 0.894053187678684], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061133585623016566}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06314941353572341}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0629018152859907}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06491828614390807}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06511289800622796}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06713019816651816}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07146017864970702}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07348098312167772}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0696882222073492}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07170829565237449}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06747415485310392}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06949334023915579}], "left_finger_force_n": 0.3843461967613849, "right_finger_force_n": 0.42330517472336815, "bilateral_contact": true, "supported": false, "lift_m": 0.012048889080610484}, "target_sequence": 13320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 333, "source_target": [-0.48104342818260193, -1.4936014413833618, 1.8441646099090576, 1.135318636894226, -1.0759965181350708, 0.0], "source_tool_goal_m": [-0.10048254069963425, -0.23011028942191417, 0.036837223503052685], "target_tool_goal_m": [0.1701956035004242, 0.1836567843252477, 0.11265174985259127], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7097430771607128, "joint2": 1.645031413831541, "joint3": 1.3375448454068133, "joint4": -1.2572645815088468, "joint5": -0.15768676305227788, "joint6": 0.054525475093453596, "gripper": 0.0}, "target_simulation_time": 26.71999999999607, "target_positions": {"joint1": 0.710635917105487, "joint2": 1.6430528519557126, "joint3": 1.3389905906227277, "joint4": -1.2610989995189898, "joint5": -0.1586107896577853, "joint6": 0.05468749984070061, "gripper": 0.008076758176259672}, "target_object": {"position_m": [0.1700644021279909, 0.18446878213149578, 0.1107698930507649], "quaternion_wxyz": [0.4408743794169091, 0.06701868303754506, -0.043177327824066594, 0.8940212503400815], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06117045962367752}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06322319756543651}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06288914444399624}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.064942518945592}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06503825036578513}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06709244513436541}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07138917771212294}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07344687182514203}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06966695149043302}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07172392436365388}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06751499428843026}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06957109027591471}], "left_finger_force_n": 0.38435601607885284, "right_finger_force_n": 0.4233130099556969, "bilateral_contact": true, "supported": false, "lift_m": 0.010648524022882438}, "target_sequence": 13360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 334, "source_target": [-0.47948646545410156, -1.4921222925186157, 1.851097583770752, 1.1248517036437988, -1.077441930770874, 0.0], "source_tool_goal_m": [-0.10024970513747053, -0.23036669729759496, 0.03573381510193223], "target_tool_goal_m": [0.17005169512673454, 0.1833482774566375, 0.1115483414514708], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7094541665673567, "joint2": 1.6488618590709845, "joint3": 1.3364416719915688, "joint4": -1.2575221892916517, "joint5": -0.15731568293003106, "joint6": 0.054384822041428256, "gripper": 0.0}, "target_simulation_time": 26.799999999996025, "target_positions": {"joint1": 0.7105942381634216, "joint2": 1.647334809666466, "joint3": 1.337752027545694, "joint4": -1.2603943553994155, "joint5": -0.15835235680006618, "joint6": 0.05458716954877351, "gripper": 0.008076635826007973}, "target_object": {"position_m": [0.17001093059713634, 0.18434745921862258, 0.10948399973118132], "quaternion_wxyz": [0.44103340629660454, 0.06784604191078164, -0.04090506885555398, 0.8939872619167336], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06117917013365991}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06322823324260837}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0628973151499405}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06494701300851666}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06504574534279749}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06709626114801298}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07138286296728161}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07343691122253955}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06966114603725582}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07171447405209251}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06750982560320892}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06956227792535231}], "left_finger_force_n": 0.3843937380255359, "right_finger_force_n": 0.4232674978077307, "bilateral_contact": true, "supported": false, "lift_m": 0.00936263070329886}, "target_sequence": 13400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 335, "source_target": [-0.4795502722263336, -1.488926887512207, 1.8610708713531494, 1.1136401891708374, -1.076218605041504, 0.0], "source_tool_goal_m": [-0.10002392324419719, -0.22990843901410934, 0.03390345900447454], "target_tool_goal_m": [0.1705528863131332, 0.183317813460036, 0.10971798535401311], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.708663868653109, "joint2": 1.6550581549078534, "joint3": 1.335152068366729, "joint4": -1.254925106950733, "joint5": -0.1564505395997688, "joint6": 0.05414406288969234, "gripper": 0.0}, "target_simulation_time": 26.87999999999598, "target_positions": {"joint1": 0.7105281614999077, "joint2": 1.6518379466256612, "joint3": 1.336762892092117, "joint4": -1.2593963801048658, "joint5": -0.15802981996379464, "joint6": 0.05445914282893096, "gripper": 0.00807667660961129}, "target_object": {"position_m": [0.1700618837056915, 0.18429304949599967, 0.10819307508592986], "quaternion_wxyz": [0.4411757814892485, 0.06857893824195588, -0.03877346074176667, 0.8939560827015294], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06119051055343833}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06322980301641024}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06292557521743998}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06496550638465982}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06509517159928481}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06713592607147587}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07138337433921046}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07342762694530588}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06964470702572541}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0716882351479365}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06747221637483565}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06951486391626174}], "left_finger_force_n": 0.384542492842709, "right_finger_force_n": 0.42313102374927564, "bilateral_contact": true, "supported": false, "lift_m": 0.008071706058047398}, "target_sequence": 13440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 336, "source_target": [-0.4824916124343872, -1.486195683479309, 1.8665138483047485, 1.108596920967102, -1.074162483215332, 0.0], "source_tool_goal_m": [-0.1003171401647942, -0.2291452504679919, 0.032715644910567485], "target_tool_goal_m": [0.1711331945074798, 0.18387368130795584, 0.10853017126010606], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7088776009079729, "joint2": 1.660079909531598, "joint3": 1.33558898822976, "joint4": -1.252121134904616, "joint5": -0.156387859519171, "joint6": 0.054103540785924754, "gripper": 0.0}, "target_simulation_time": 26.959999999995937, "target_positions": {"joint1": 0.7104681254303977, "joint2": 1.657115656504952, "joint3": 1.3363859397545084, "joint4": -1.256598348479768, "joint5": -0.15772412064690697, "joint6": 0.054344969189019106, "gripper": 0.008076683839276082}, "target_object": {"position_m": [0.1705468295973122, 0.1846174679263697, 0.10676924725076445], "quaternion_wxyz": [0.4412615218319855, 0.06900984963220738, -0.037374131654851234, 0.8939402017401982], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0612084184145413}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06326076692574843}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06292525400017408}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06497823889407052}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06507204775827101}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06712585266609346}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07135017543762896}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07340745920353482}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06962981751996385}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07168638079668996}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06748019439301214}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06953588169001863}], "left_finger_force_n": 0.3845705786588988, "right_finger_force_n": 0.42308990904084837, "bilateral_contact": true, "supported": false, "lift_m": 0.006647878222881987}, "target_sequence": 13480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 337, "source_target": [-0.481844425201416, -1.4857709407806396, 1.8716455698013306, 1.0997198820114136, -1.0752285718917847, 0.0], "source_tool_goal_m": [-0.10033439900462479, -0.22946643727879032, 0.03204167422049588], "target_tool_goal_m": [0.1708355073018042, 0.1837672396563036, 0.10785620057003448], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7092611753589598, "joint2": 1.6625058368954864, "joint3": 1.3348796283285256, "joint4": -1.2525169172311053, "joint5": -0.156511147380662, "joint6": 0.054068545143515966, "gripper": 0.0}, "target_simulation_time": 27.039999999995892, "target_positions": {"joint1": 0.7104217983420383, "joint2": 1.6617731177408805, "joint3": 1.3360571554733733, "joint4": -1.255440389105061, "joint5": -0.15746561211759696, "joint6": 0.05424719322701244, "gripper": 0.008076694091014565}, "target_object": {"position_m": [0.1707511881876963, 0.18471614952509616, 0.10555979324532663], "quaternion_wxyz": [0.44137924946240914, 0.06963744903572179, -0.03557152305898127, 0.8939069585717868], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06122574659447201}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06329230955789039}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06292378603747358}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06499098242559156}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06504706714193893}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06711507944707402}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07131977072816278}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07339129105359801}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06961825311833554}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07168905641815787}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06749216131467002}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06956209256331769}], "left_finger_force_n": 0.38459497120444053, "right_finger_force_n": 0.4230726251962419, "bilateral_contact": true, "supported": false, "lift_m": 0.005438424217444171}, "target_sequence": 13520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 338, "source_target": [-0.4812764525413513, -1.483161211013794, 1.8767038583755493, 1.0922539234161377, -1.0748732089996338, 0.0], "source_tool_goal_m": [-0.10018332071291733, -0.22943599448494212, 0.030968665571931953], "target_tool_goal_m": [0.17092052682336006, 0.18364187225770642, 0.10678319192147054], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7089573033308122, "joint2": 1.6665940201251621, "joint3": 1.3343654516254384, "joint4": -1.2521036236647367, "joint5": -0.15610176339666876, "joint6": 0.05392264804525122, "gripper": 0.0}, "target_simulation_time": 27.119999999995848, "target_positions": {"joint1": 0.7103700037216941, "joint2": 1.6652776557977436, "joint3": 1.3354171047435563, "joint4": -1.254788496502147, "joint5": -0.15719862084542374, "joint6": 0.05414261194049377, "gripper": 0.00807662681859648}, "target_object": {"position_m": [0.17078629309012633, 0.18466561959827357, 0.10457680828477034], "quaternion_wxyz": [0.4414831801187182, 0.07020358224442076, -0.0339027757896157, 0.8938761997648637], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06123733024641536}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06329885216197052}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0629374197191376}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06499957421669061}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06506326525527395}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06712623462639901}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07131405672911961}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0733805414440459}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06961047079371836}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07167623898723077}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.067481796143673}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0695466929270872}], "left_finger_force_n": 0.38466267622588707, "right_finger_force_n": 0.42300979702487485, "bilateral_contact": true, "supported": false, "lift_m": 0.0044554392568878776}, "target_sequence": 13560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 339, "source_target": [-0.48063239455223083, -1.4796741008758545, 1.8817487955093384, 1.0863969326019287, -1.0729949474334717, 0.0], "source_tool_goal_m": [-0.09986748370670802, -0.22913010025076905, 0.029719706712659832], "target_tool_goal_m": [0.1713178442258127, 0.18347186679962252, 0.10553423306219842], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7080421263842713, "joint2": 1.6709629734908193, "joint3": 1.3336363992345932, "joint4": -1.2506603772150033, "joint5": -0.1552105817458823, "joint6": 0.053660889517583445, "gripper": 0.0}, "target_simulation_time": 27.199999999995804, "target_positions": {"joint1": 0.710289944601303, "joint2": 1.6686890576909705, "joint3": 1.3349844264592718, "joint4": -1.254042971759084, "joint5": -0.1568637855581931, "joint6": 0.054006904037403984, "gripper": 0.008076665722781737}, "target_object": {"position_m": [0.1708882057391154, 0.18464727600575837, 0.10365617724889377], "quaternion_wxyz": [0.44156967883156717, 0.07065901582256026, -0.03240931634214975, 0.8938529847988479], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06124591169341349}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06329241845116142}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06296373999152019}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06501088188545368}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06511177608051362}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06715973641240641}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07132247766834966}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07337391639498593}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0696011155458129}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07165183492144021}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0674502390351154}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06950008383637525}], "left_finger_force_n": 0.3847844645144688, "right_finger_force_n": 0.42289966740207935, "bilateral_contact": true, "supported": false, "lift_m": 0.003534808221011307}, "target_sequence": 13600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 340, "source_target": [-0.4796653091907501, -1.4816890954971313, 1.8884280920028687, 1.0781888961791992, -1.0764992237091064, 0.0], "source_tool_goal_m": [-0.0997305595836154, -0.22929095148701645, 0.029259086246940957], "target_tool_goal_m": [0.17122409279103978, 0.18328661675246702, 0.10507361259647954], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7079205954873107, "joint2": 1.6728847225003898, "joint3": 1.333419380626266, "joint4": -1.2512232955307656, "joint5": -0.15495038813914877, "joint6": 0.05353052800718801, "gripper": 0.0}, "target_simulation_time": 27.27999999999576, "target_positions": {"joint1": 0.7102045162892014, "joint2": 1.671771601437864, "joint3": 1.3345294082524233, "joint4": -1.253449941929782, "joint5": -0.1565236411823655, "joint6": 0.05386834665343164, "gripper": 0.008076690618392425}, "target_object": {"position_m": [0.1709605022873453, 0.18459968061282164, 0.10280840896357409], "quaternion_wxyz": [0.4416515768582654, 0.07108335116391029, -0.030983059103657756, 0.8938294534722472], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06126098346044807}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06330960979100567}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06296628857960793}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06501554618303104}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06509865948732281}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0671487303473084}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07130482447422196}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07335835210036765}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06959603759279846}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0716488510791891}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06746086702985728}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06951281210127361}], "left_finger_force_n": 0.3847998178487239, "right_finger_force_n": 0.42288174437770804, "bilateral_contact": true, "supported": false, "lift_m": 0.0026870399356916236}, "target_sequence": 13640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 341, "source_target": [-0.48159170150756836, -1.4791821241378784, 1.8909543752670288, 1.0749350786209106, -1.0772393941879272, 0.0], "source_tool_goal_m": [-0.0999739846283849, -0.22888303114523312, 0.028503924006418588], "target_tool_goal_m": [0.17150130847891779, 0.18366231293110682, 0.10431845035595716], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7083187121644379, "joint2": 1.6761751421478583, "joint3": 1.3337875980205518, "joint4": -1.2496805734517134, "joint5": -0.1549755800341988, "joint6": 0.05349855740555617, "gripper": 0.0}, "target_simulation_time": 27.359999999995715, "target_positions": {"joint1": 0.7101345017858033, "joint2": 1.674551626216818, "joint3": 1.3343826405503703, "joint4": -1.2527715671735256, "joint5": -0.15622671338441887, "joint6": 0.05375083297141454, "gripper": 0.008076733414169385}, "target_object": {"position_m": [0.1710957638084147, 0.18462148251683255, 0.10209186992927531], "quaternion_wxyz": [0.441710891179223, 0.07139371510247897, -0.029879432706799557, 0.8938129813102083], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06128325612201389}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06334860618511787}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06297120326122417}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06503718337774562}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0650818612143338}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06714865274885609}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07126699723651392}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07333725838420525}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06957562418062876}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07164517320558457}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06746220342529408}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0695308862404862}], "left_finger_force_n": 0.38487076290929145, "right_finger_force_n": 0.4228181426727128, "bilateral_contact": true, "supported": false, "lift_m": 0.0019705009013928493}, "target_sequence": 13680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 342, "source_target": [-0.4815014600753784, -1.4784319400787354, 1.8982579708099365, 1.0689963102340698, -1.0784907341003418, 0.0], "source_tool_goal_m": [-0.09966230625755462, -0.22832216681789103, 0.027433529703354567], "target_tool_goal_m": [0.17212815265322967, 0.18359299272873503, 0.10324805605289317], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.707219638339644, "joint2": 1.6801387015955098, "joint3": 1.3336253609856794, "joint4": -1.2478263372996092, "joint5": -0.15393359934015338, "joint6": 0.053195782407755396, "gripper": 0.0}, "target_simulation_time": 27.43999999999567, "target_positions": {"joint1": 0.7099373027613747, "joint2": 1.677582804932596, "joint3": 1.3343169656567926, "joint4": -1.2518899852273768, "joint5": -0.15586306355397123, "joint6": 0.05360066796616378, "gripper": 0.008076917040946721}, "target_object": {"position_m": [0.17131447612327086, 0.18465934454828367, 0.10132670804711519], "quaternion_wxyz": [0.4418067995143253, 0.071660833508604, -0.02879548427599294, 0.8937797810026091], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061298140575727036}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06334517167232637}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06299700019933657}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06504466003606034}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06512130911757759}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06716977885653672}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07126994943159079}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07332186431134417}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0695676301455471}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07161883406699965}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06744053817038795}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06949087746442256}], "left_finger_force_n": 0.3849760604575646, "right_finger_force_n": 0.4227096935902922, "bilateral_contact": true, "supported": false, "lift_m": 0.0012053390192327262}, "target_sequence": 13720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 343, "source_target": [-0.47985541820526123, -1.4778916835784912, 1.8971587419509888, 1.0630367994308472, -1.0744044780731201, 0.0], "source_tool_goal_m": [-0.0998545099442583, -0.22945153518510475, 0.027580501568027452], "target_tool_goal_m": [0.1710314237313841, 0.18333792769505355, 0.10339502791756605], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7086898797848528, "joint2": 1.6797235260720111, "joint3": 1.3329079045972174, "joint4": -1.2510038728257578, "joint5": -0.15481768167151927, "joint6": 0.05333365489915556, "gripper": 0.0}, "target_simulation_time": 27.519999999995626, "target_positions": {"joint1": 0.7098738110506836, "joint2": 1.6791897406770881, "joint3": 1.3342512505088595, "joint4": -1.2516821388896548, "joint5": -0.15579636074532568, "joint6": 0.053570435460347995, "gripper": 0.008083118183705903}, "target_object": {"position_m": [0.17135550868782146, 0.18466725943763115, 0.10091715984548248], "quaternion_wxyz": [0.44181021974806356, 0.071761591891791, -0.028288340779317935, 0.8937862011864348], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.3451322199825035}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.05794319003714974}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06946070858330444}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06933579093915357}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07312719534777176}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.07300232202204171}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0777136763051288}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.07758886151432275}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0654622541179783}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06533722394235374}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.061799379022078556}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06167430953338854}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.057223592459819894}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.057098476938673884}], "left_finger_force_n": 0.44022855471172306, "right_finger_force_n": 0.3685952360142929, "bilateral_contact": true, "supported": true, "lift_m": 0.00079579081760002}, "target_sequence": 13760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 344, "source_target": [-0.48231983184814453, -1.4754353761672974, 1.9036192893981934, 1.0608397722244263, -1.0754001140594482, 0.0], "source_tool_goal_m": [-0.09975323439369052, -0.22814067427237006, 0.02627088184066434], "target_tool_goal_m": [0.17225809696174887, 0.18374439744226653, 0.10208540819020293], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7074338557028079, "joint2": 1.6847950820041115, "joint3": 1.3334610394156203, "joint4": -1.2467531198197679, "joint5": -0.15381140635747717, "joint6": 0.05309690269203714, "gripper": 0.0}, "target_simulation_time": 27.599999999995582, "target_positions": {"joint1": 0.7098126997810456, "joint2": 1.6796833304865366, "joint3": 1.3342313154601773, "joint4": -1.2515170352492222, "joint5": -0.1558200369876798, "joint6": 0.053596605488464184, "gripper": 0.00808882588795965}, "target_object": {"position_m": [0.17138043082550491, 0.1846843913070565, 0.10079950001953783], "quaternion_wxyz": [0.44192085360091743, 0.07180746652110116, -0.028009587877727192, 0.8937365998387772], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.5314007415897868}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.19633229000438024}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0704420734811978}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.07263980884225837}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07714239616181832}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.07934243206323337}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.08552848395110868}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.08773165030190165}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.062248119740631463}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06444373099126378}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.055561104443445086}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.057754874242733484}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.047210012097074004}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04940173219516187}], "left_finger_force_n": 0.4728268448015182, "right_finger_force_n": 0.3366195737103097, "bilateral_contact": true, "supported": true, "lift_m": 0.0006781309916553679}, "target_sequence": 13800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 345, "source_target": [-0.48318010568618774, -1.4741021394729614, 1.9057542085647583, 1.056473970413208, -1.0754042863845825, 0.0], "source_tool_goal_m": [-0.09995824414767863, -0.2281456268390682, 0.025799406288819396], "target_tool_goal_m": [0.1721756823353785, 0.18392833787381355, 0.101613932638358], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7079677121758273, "joint2": 1.686304418597602, "joint3": 1.333012836445392, "joint4": -1.2459523790669764, "joint5": -0.15413415220356855, "joint6": 0.053209705617871014, "gripper": 0.0}, "target_simulation_time": 27.679999999995538, "target_positions": {"joint1": 0.7097625098732055, "joint2": 1.6802233663022936, "joint3": 1.3342366683549634, "joint4": -1.2513624006863517, "joint5": -0.1559004532810587, "joint6": 0.05365745570463601, "gripper": 0.008092117189339682}, "target_object": {"position_m": [0.1714034493839404, 0.18470957585683598, 0.1006795949346992], "quaternion_wxyz": [0.4420593552351176, 0.07173993094348523, -0.027645354442614786, 0.8936848679121062], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.658247104953897}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.2775512950966386}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06125758152990989}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06548318417913045}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07646597370717848}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.08070174411547032}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.09553071609861837}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.09978183869148655}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06782763107291749}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0717296226377673}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.055104119804748476}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05796321697254419}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.03930307739025925}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.04213856051511471}], "left_finger_force_n": 0.479221038321794, "right_finger_force_n": 0.3340662283933514, "bilateral_contact": true, "supported": true, "lift_m": 0.0005582259068167422}, "target_sequence": 13840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 346, "source_target": [-0.4828970730304718, -1.4746894836425781, 1.9063993692398071, 1.054347276687622, -1.0764387845993042, 0.0], "source_tool_goal_m": [-0.10002018409171184, -0.2283865849518397, 0.025844743623780655], "target_tool_goal_m": [0.1719337316565605, 0.18389289109245982, 0.10165926997331926], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7082529790270159, "joint2": 1.6861740987727962, "joint3": 1.3328632106300233, "joint4": -1.2466126891660567, "joint5": -0.15446209277049763, "joint6": 0.0533277020262096, "gripper": 0.0}, "target_simulation_time": 27.759999999995493, "target_positions": {"joint1": 0.7097220198721425, "joint2": 1.6803829440027722, "joint3": 1.3342505931437594, "joint4": -1.251277143691588, "joint5": -0.15600070644169572, "joint6": 0.05372491102250678, "gripper": 0.008092910269428284}, "target_object": {"position_m": [0.1714157324053573, 0.18472814501072657, 0.10065284995528201], "quaternion_wxyz": [0.44217532467572707, 0.07156145010872741, -0.027486229873919958, 0.8936467133456991], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.6430062658524965}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.2598135154785849}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05154094206422867}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05708007448175716}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07363150168361164}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.07919089781427353}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.10137354907468915}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.10696723403870935}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07601441036670861}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.08157707457261229}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.054561882432689196}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05945348234227196}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.03199982997984659}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.03638446736632574}], "left_finger_force_n": 0.4697841991572695, "right_finger_force_n": 0.3399911470604544, "bilateral_contact": true, "supported": true, "lift_m": 0.0005314809273995469}, "target_sequence": 13880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 347, "source_target": [-0.48205122351646423, -1.4718888998031616, 1.9093743562698364, 1.0499051809310913, -1.0741581916809082, 0.0], "source_tool_goal_m": [-0.09977430597048526, -0.22830675334984563, 0.02499785310395221], "target_tool_goal_m": [0.17209955174322816, 0.18370036917412758, 0.10081237945349081], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.707595565650068, "joint2": 1.6884874834314696, "joint3": 1.3317113204457602, "joint4": -1.245411148038651, "joint5": -0.15394650673571927, "joint6": 0.05324461459903397, "gripper": 0.0}, "target_simulation_time": 27.83999999999545, "target_positions": {"joint1": 0.709668791745849, "joint2": 1.6807669852028355, "joint3": 1.334254585049066, "joint4": -1.2511421864245291, "joint5": -0.15612575513265078, "joint6": 0.05379713255957786, "gripper": 0.00809950997230247}, "target_object": {"position_m": [0.17142796096560603, 0.18475737571169243, 0.10058311311453134], "quaternion_wxyz": [0.44236407755986634, 0.07121073756605233, -0.027133188413189013, 0.8935921014794401], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.7891271054877224}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.35880410846956884}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.039340085939919736}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04659247090135365}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07753894961149953}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.08666641506953772}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.1294297475150577}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.13867050557285968}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.08616572971168963}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.09378319111566702}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.05260417202545567}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06017477565325413}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.01837865497050845}], "left_finger_force_n": 0.518238174610228, "right_finger_force_n": 0.3111065234765749, "bilateral_contact": true, "supported": true, "lift_m": 0.00046174408664888256}, "target_sequence": 13920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 348, "source_target": [-0.4838002026081085, -1.4727634191513062, 1.9116630554199219, 1.0499954223632812, -1.0754578113555908, 0.0], "source_tool_goal_m": [-0.09990992544275198, -0.2277755663863794, 0.024833985093229052], "target_tool_goal_m": [0.17252947517032127, 0.18402520374242765, 0.10064851144276764], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7074132749443375, "joint2": 1.6895163560485489, "joint3": 1.332437413932904, "joint4": -1.2439789409217539, "joint5": -0.15400107535678584, "joint6": 0.053311665640979874, "gripper": 0.0}, "target_simulation_time": 27.919999999995404, "target_positions": {"joint1": 0.7096176919869046, "joint2": 1.6812689082266086, "joint3": 1.334292587631095, "joint4": -1.250970580952875, "joint5": -0.15636363294063538, "joint6": 0.05391037206664914, "gripper": 0.0081123443530857}, "target_object": {"position_m": [0.1714374964387809, 0.1848074977088581, 0.10050893444612487], "quaternion_wxyz": [0.44269508845320255, 0.07048797209753786, -0.02644441899538988, 0.8935061259739553], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.8810629576818263}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.395084527423602}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.01568277048569523}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.029299428720023342}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07417276335169828}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.08794256183122806}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.16163285147459425}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.17760445045268175}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.10074007306268644}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.11241684444719945}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.04117129123723756}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05270964449252147}], "left_finger_force_n": 0.5463348263159209, "right_finger_force_n": 0.30703785323964494, "bilateral_contact": true, "supported": true, "lift_m": 0.0003875654182424054}, "target_sequence": 13960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 349, "source_target": [-0.4818691909313202, -1.4705549478530884, 1.9128724336624146, 1.0465954542160034, -1.0760554075241089, 0.0], "source_tool_goal_m": [-0.09958410005717841, -0.22801716659108093, 0.02432280656195568], "target_tool_goal_m": [0.17243433467044755, 0.18363803844215543, 0.10013733291149426], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.706710888993415, "joint2": 1.690730698715956, "joint3": 1.3313001469132366, "joint4": -1.2441510336017738, "joint5": -0.15368382841188769, "joint6": 0.05327482862043599, "gripper": 0.0}, "target_simulation_time": 27.99999999999536, "target_positions": {"joint1": 0.70955069141391, "joint2": 1.6817332288999478, "joint3": 1.334324694817612, "joint4": -1.2508173815479706, "joint5": -0.1566361155978473, "joint6": 0.05403312750978836, "gripper": 0.008125113284269087}, "target_object": {"position_m": [0.1714440435861668, 0.18485167367972508, 0.10045716366079704], "quaternion_wxyz": [0.442991899701388, 0.0697536671038515, -0.02583723002573093, 0.8934344073680605], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.9548233909443691}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.4290941408438711}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07633381859500207}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.09275231691074914}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.1872058543206021}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.20776458939633852}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.11228918573515759}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.12820308222847518}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.04611114073104708}], "left_finger_force_n": 0.5640565792226918, "right_finger_force_n": 0.2866034086946798, "bilateral_contact": true, "supported": true, "lift_m": 0.0003357946329145822}, "target_sequence": 14000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 350, "source_target": [-0.4839082658290863, -1.4715328216552734, 1.9109466075897217, 1.045853853225708, -1.0778367519378662, 0.01640624925494194], "source_tool_goal_m": [-0.10023424145554966, -0.22833458378543092, 0.024774242589467504], "target_tool_goal_m": [0.17189950141901605, 0.18410668086227547, 0.10058876893900609], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.708408217202985, "joint2": 1.6896915420794907, "joint3": 1.3318815060951135, "joint4": -1.245016770209981, "joint5": -0.1552391649856905, "joint6": 0.05372698685407786, "gripper": 0.0008794687100606306}, "target_simulation_time": 28.079999999995316, "target_positions": {"joint1": 0.7095248575152739, "joint2": 1.6818726197946883, "joint3": 1.3343619813724592, "joint4": -1.2507302822125783, "joint5": -0.15690524166813183, "joint6": 0.0541612549350389, "gripper": 0.008137977418816543}, "target_object": {"position_m": [0.17144333688389984, 0.1848839319725245, 0.10048040460869091], "quaternion_wxyz": [0.4432386344481723, 0.06909832212999299, -0.025544816980784955, 0.8933713657470542], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.8538997375121065}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.3633776523048083}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.04022917785572817}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05873956925688152}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.17109691879018019}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.19533950455513713}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.1162557777510361}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.13599042405306544}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.037859441930596455}], "left_finger_force_n": 0.465405170457927, "right_finger_force_n": 0.290105643734698, "bilateral_contact": true, "supported": true, "lift_m": 0.00035903558080845055}, "target_sequence": 14040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 351, "source_target": [-0.48366019129753113, -1.4714692831039429, 1.912671446800232, 1.045332670211792, -1.0747933387756348, 0.0], "source_tool_goal_m": [-0.10005912233774518, -0.22812497508158414, 0.024531793240182453], "target_tool_goal_m": [0.17215605682914834, 0.18402762476589593, 0.10034631958972104], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7076707344430725, "joint2": 1.6904832257895492, "joint3": 1.331785860523161, "joint4": -1.2443949411716744, "joint5": -0.1549930527736679, "joint6": 0.05372434890933907, "gripper": 0.0}, "target_simulation_time": 28.15999999999527, "target_positions": {"joint1": 0.709479270296793, "joint2": 1.6820395838455156, "joint3": 1.334390223856668, "joint4": -1.250620337639782, "joint5": -0.157071192526553, "joint6": 0.054255367345775025, "gripper": 0.00812994123609034}, "target_object": {"position_m": [0.17145845909332189, 0.18490205680443567, 0.10048399565378117], "quaternion_wxyz": [0.44342506927487185, 0.06895385004699292, -0.025430202859625873, 0.8932932773086281], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.8793086794438962}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.38121553037955086}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.04207721730239747}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0629582633511526}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.17765218257079216}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.20461380780249536}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.12375493812379984}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.14539769625165308}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0437669121246836}], "left_finger_force_n": 0.4873014710268376, "right_finger_force_n": 0.31291954650013654, "bilateral_contact": true, "supported": true, "lift_m": 0.00036262662589871264}, "target_sequence": 14080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 352, "source_target": [-0.4820338487625122, -1.4724191427230835, 1.9098765850067139, 1.0504264831542969, -1.0750181674957275, 0.18183593451976776], "source_tool_goal_m": [-0.09971051136983565, -0.22818910312511864, 0.025014596653066143], "target_tool_goal_m": [0.1722304398601177, 0.18368726472842575, 0.10082912300260471], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7066821563171463, "joint2": 1.6889832411136034, "joint3": 1.3321776223988597, "joint4": -1.2456342602823776, "joint5": -0.15466673104829826, "joint6": 0.05367284666967036, "gripper": 0.009747445152742524}, "target_simulation_time": 28.239999999995227, "target_positions": {"joint1": 0.7094010701117603, "joint2": 1.6821174898228084, "joint3": 1.334420413086126, "joint4": -1.2505547270339898, "joint5": -0.1571666463839615, "joint6": 0.05430449750887678, "gripper": 0.008210005188318955}, "target_object": {"position_m": [0.17145102287426084, 0.18493619528670077, 0.10052920672616744], "quaternion_wxyz": [0.44365715597341615, 0.06816039245197689, -0.025133756845080624, 0.893247324721], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.6780263607763369}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.23530919199738123}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.14710525375756878}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.1718711059206132}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.05162580604638722}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07724554867909698}], "left_finger_force_n": 0.31897635967818194, "right_finger_force_n": 0.1288713547254842, "bilateral_contact": true, "supported": true, "lift_m": 0.0004078376982849796}, "target_sequence": 14120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 353, "source_target": [-0.4815864562988281, -1.4720613956451416, 1.9103504419326782, 1.0504645109176636, -1.0772819519042969, 0.22832031548023224], "source_tool_goal_m": [-0.09956589796755891, -0.22810437515367132, 0.02488407785311149], "target_tool_goal_m": [0.17236220667371746, 0.18358839132825355, 0.10069860420265009], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7061856996101914, "joint2": 1.6893613418867117, "joint3": 1.3320550347727131, "joint4": -1.2454052841376444, "joint5": -0.15445931771043464, "joint6": 0.053643490579787255, "gripper": 0.01223927359725748}, "target_simulation_time": 28.319999999995183, "target_positions": {"joint1": 0.7092970200343127, "joint2": 1.6831075846515342, "joint3": 1.3343939727993797, "joint4": -1.2500208298535702, "joint5": -0.15715790905318924, "joint6": 0.05428844476785685, "gripper": 0.008576827014350242}, "target_object": {"position_m": [0.1712878815414671, 0.18493822079948888, 0.10073897624928586], "quaternion_wxyz": [0.4436464474234722, 0.06438927416897203, -0.026942755687712226, 0.8934796802258439], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.3153997647809333}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.08737994090132307}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.11722214192462477}], "left_finger_force_n": 0.11722214192462477, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 0.0006176072214034017}, "target_sequence": 14160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 354, "source_target": [-0.4817756116390228, -1.4720295667648315, 1.9103717803955078, 1.0524765253067017, -1.0777770280838013, 0.2734375], "source_tool_goal_m": [-0.09945648616490659, -0.22780809739844451, 0.02484687127999767], "target_tool_goal_m": [0.1726723440103157, 0.18360183649563686, 0.10066139762953626], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7056054906795799, "joint2": 1.6898144206030574, "joint3": 1.332533248455634, "joint4": -1.2449601364667207, "joint5": -0.15420848400396436, "joint6": 0.05356175891072272, "gripper": 0.0146578125}, "target_simulation_time": 28.39999999999514, "target_positions": {"joint1": 0.7089245302826651, "joint2": 1.6855295663052037, "joint3": 1.3343338864876693, "joint4": -1.2493089674857392, "joint5": -0.15695633019941732, "joint6": 0.054178095478144186, "gripper": 0.010349393692434983}, "target_object": {"position_m": [0.1706625140938776, 0.18570186932599245, 0.10060261086316538], "quaternion_wxyz": [0.4443346881755205, 0.042543805885033585, -0.017219944691561875, 0.8946844041166683], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.17849144968142092}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.035715933115324325}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04131991268748727}], "left_finger_force_n": 0.04131991268748727, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 0.00048124183528291953}, "target_sequence": 14200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 355, "source_target": [-0.4814448356628418, -1.470469355583191, 1.910452961921692, 1.0531703233718872, -1.077349066734314, 0.2977050840854645], "source_tool_goal_m": [-0.09927180161894085, -0.2276048606920141, 0.02454976666016352], "target_tool_goal_m": [0.17292675965968948, 0.18351168815892188, 0.10036429300970211], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7049163701937865, "joint2": 1.691329541252884, "joint3": 1.3328696600527508, "joint4": -1.2448057675558561, "joint5": -0.1538836475424486, "joint6": 0.05341218028986175, "gripper": 0.015958693678889958}, "target_simulation_time": 28.479999999995094, "target_positions": {"joint1": 0.7081249144517943, "joint2": 1.688345829248943, "joint3": 1.334267014820344, "joint4": -1.2486107934002364, "joint5": -0.15662932811432362, "joint6": 0.05403531485983433, "gripper": 0.012602093053351828}, "target_object": {"position_m": [0.16999100199701847, 0.1865576702567671, 0.10028392556698086], "quaternion_wxyz": [0.4447919081390393, 0.01842435348138114, -0.00581393177153352, 0.895425541209419], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.18398609484967954}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.037043213566151346}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.02308443391962933}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.012643265343820048}], "left_finger_force_n": 0.035727699263449375, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 0.00016255653909839907}, "target_sequence": 14240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 356, "source_target": [-0.4814186692237854, -1.4722821712493896, 1.908980369567871, 1.053234577178955, -1.0767658948898315, 0.34111326932907104], "source_tool_goal_m": [-0.09948027602882412, -0.22801804292036845, 0.025073959921259104], "target_tool_goal_m": [0.17247300455948916, 0.1835435981837809, 0.10088848627079769], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7055611985898905, "joint2": 1.6904498290422105, "joint3": 1.3337129321682835, "joint4": -1.2469991153700517, "joint5": -0.15478829768234745, "joint6": 0.05356428133474326, "gripper": 0.01828562045472009}, "target_simulation_time": 28.55999999999505, "target_positions": {"joint1": 0.7077068296630434, "joint2": 1.6899304847416614, "joint3": 1.3342095172087545, "joint4": -1.248295370460818, "joint5": -0.1563732803875537, "joint6": 0.0539419239862081, "gripper": 0.01465246796514221}, "target_object": {"position_m": [0.16947757418604692, 0.18708065980714988, 0.10004555250538041], "quaternion_wxyz": [0.4449074557811074, 0.0011535802467319315, 0.0001284216280813043, 0.8955757972114263], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.05956774472084553}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.062308099860916386}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06041011274090263}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06319193459052219}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -7.581652250204796e-05}, "target_sequence": 14280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 357, "source_target": [-0.4823038578033447, -1.4705040454864502, 1.9092053174972534, 1.0508062839508057, -1.0769407749176025, 0.3729003965854645], "source_tool_goal_m": [-0.09971316934348085, -0.22806500916268793, 0.02476136967375682], "target_tool_goal_m": [0.1723419095817601, 0.18373684288233746, 0.1005758960232954], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7077068296630434, "joint2": 1.6899304847416614, "joint3": 1.3342095172087545, "joint4": -1.248295370460818, "joint5": -0.1563732803875537, "joint6": 0.0539419239862081, "gripper": 0.019989592116389957}, "target_simulation_time": 28.639999999995005, "target_positions": {"joint1": 0.7076927580118538, "joint2": 1.690026453064002, "joint3": 1.3341953095073882, "joint4": -1.2482618721759766, "joint5": -0.15633161508912854, "joint6": 0.05393066959971489, "gripper": 0.016547300845241777}, "target_object": {"position_m": [0.1694417439425508, 0.18709393580772102, 0.10005159889441194], "quaternion_wxyz": [0.4449076644652996, 0.00020264030828578308, 2.6945189598692425e-05, 0.8955764223732638], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06129116652154718}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131304924799794}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06130304718121198}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061326377585549416}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.977013347052308e-05}, "target_sequence": 14320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 358, "source_target": [-0.477398544549942, -1.4714245796203613, 1.9095635414123535, 1.0543830394744873, -1.0791642665863037, 0.40434569120407104], "source_tool_goal_m": [-0.0985735368314206, -0.2280760780675582, 0.024824562343982406], "target_tool_goal_m": [0.1727650585015008, 0.18269966096857754, 0.10063908869352099], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7033019745322205, "joint2": 1.6911491699542311, "joint3": 1.3331999654645796, "joint4": -1.2480323541578233, "joint5": -0.15332411836784574, "joint6": 0.053135162103736894, "gripper": 0.02167523959534509}, "target_simulation_time": 28.71999999999496, "target_positions": {"joint1": 0.7069644845646628, "joint2": 1.690057077831131, "joint3": 1.3341636915244393, "joint4": -1.24823018973722, "joint5": -0.15602346197379288, "joint6": 0.05377688540356966, "gripper": 0.018286741730122763}, "target_object": {"position_m": [0.1694354861413592, 0.18709607437495754, 0.10005282504856185], "quaternion_wxyz": [0.4449076704191779, 3.850969853913548e-05, 5.191579333217219e-06, 0.8955764419033306], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06130840083114465}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312651720357506}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131077377270492}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131507688029291}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.854397932061496e-05}, "target_sequence": 14360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 359, "source_target": [-0.4784040153026581, -1.4709185361862183, 1.907454490661621, 1.0569480657577515, -1.0773745775222778, 0.45869138836860657], "source_tool_goal_m": [-0.09875455829636962, -0.22797881712560478, 0.024991572350866673], "target_tool_goal_m": [0.17278440935142558, 0.1829007102035373, 0.10080609870040524], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7035770238259114, "joint2": 1.6908440996832252, "joint3": 1.3336556727270694, "joint4": -1.2478984085934488, "joint5": -0.15372675121518334, "joint6": 0.053170876449948334, "gripper": 0.02458847951020514}, "target_simulation_time": 28.799999999994917, "target_positions": {"joint1": 0.7059781610181256, "joint2": 1.6900842909095704, "joint3": 1.334142933203443, "joint4": -1.2481772742518695, "joint5": -0.15571693975055453, "joint6": 0.05364223674109627, "gripper": 0.020180176728714576}, "target_object": {"position_m": [0.16943429588929862, 0.18709647873234303, 0.10005305815181209], "quaternion_wxyz": [0.44490767063414693, 7.31900599493852e-06, 1.00015759355803e-06, 0.8955764426090772], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131171867558168}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131252958268008}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131217491431959}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312987710111316}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.831087607037101e-05}, "target_sequence": 14400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 360, "source_target": [-0.482395201921463, -1.4715405702590942, 1.9090524911880493, 1.0546337366104126, -1.0754657983779907, 0.47919920086860657], "source_tool_goal_m": [-0.09952162045056012, -0.22766425118005024, 0.024913282600501546], "target_tool_goal_m": [0.17277796971730758, 0.1837155517806072, 0.10072780895004013], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7059781610181256, "joint2": 1.6900842909095704, "joint3": 1.334142933203443, "joint4": -1.2481772742518695, "joint5": -0.15571693975055453, "joint6": 0.05364223674109627, "gripper": 0.025687815447705136}, "target_simulation_time": 28.879999999994872, "target_positions": {"joint1": 0.7058832363215647, "joint2": 1.6900880443978759, "joint3": 1.3341406966048739, "joint4": -1.2481703479731496, "joint5": -0.15565398837670041, "joint6": 0.05362841107743335, "gripper": 0.022282274013776634}, "target_object": {"position_m": [0.16943406948083353, 0.18709655519295582, 0.10005310253251842], "quaternion_wxyz": [0.4449076706419102, 1.3910465555301343e-06, 1.9265320337913673e-07, 0.8955764426345851], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131235133217605}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312505438409284}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131243843914934}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131259261373051}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.826649536403884e-05}, "target_sequence": 14440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 361, "source_target": [-0.48326295614242554, -1.4719785451889038, 1.9095256328582764, 1.0544185638427734, -1.0744154453277588, 0.505175769329071], "source_tool_goal_m": [-0.09966938808097378, -0.22756205994120973, 0.02492876326336886], "target_tool_goal_m": [0.1728144294420956, 0.18388833343887687, 0.10074328961290746], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7058832363215647, "joint2": 1.6900880443978759, "joint3": 1.3341406966048739, "joint4": -1.2481703479731496, "joint5": -0.15565398837670041, "joint6": 0.05362841107743335, "gripper": 0.02708030795472009}, "target_simulation_time": 28.959999999994828, "target_positions": {"joint1": 0.7058833718020802, "joint2": 1.690088046583796, "joint3": 1.3341406777734386, "joint4": -1.2481707158138222, "joint5": -0.15564574401116238, "joint6": 0.053627779017110265, "gripper": 0.023987926514658493}, "target_object": {"position_m": [0.16943402641289496, 0.1870965696507643, 0.10005311098457088], "quaternion_wxyz": [0.44490767064219017, 2.643830904350993e-07, 3.710396424494808e-08, 0.8955764426355062], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131247172116508}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250098678795}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131248833003041}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131251759812688}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825804331157814e-05}, "target_sequence": 14480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 362, "source_target": [-0.48250114917755127, -1.4711978435516357, 1.909309983253479, 1.055001139640808, -1.0741617679595947, 0.542773425579071], "source_tool_goal_m": [-0.09947588431872101, -0.2275348327309944, 0.024812324603882538], "target_tool_goal_m": [0.17291266052897952, 0.18372328889573125, 0.10062685095342112], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7058833718020802, "joint2": 1.690088046583796, "joint3": 1.3341406777734386, "joint4": -1.2481707158138222, "joint5": -0.15564574401116238, "joint6": 0.053627779017110265, "gripper": 0.02909575717347009}, "target_simulation_time": 29.039999999994784, "target_positions": {"joint1": 0.7058833918845954, "joint2": 1.6900880502835582, "joint3": 1.3341406789131862, "joint4": -1.2481706814397366, "joint5": -0.15564728210317993, "joint6": 0.053627971382368224, "gripper": 0.025560880725241753}, "target_object": {"position_m": [0.16943401822036008, 0.18709657238448352, 0.10005311259430195], "quaternion_wxyz": [0.4449076706422007, 5.0248969261969604e-08, 7.144986954328111e-09, 0.8955764426355398], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249462126248}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250017820628}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312497787315845}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125033443492}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825643358050748e-05}, "target_sequence": 14520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 363, "source_target": [-0.4829031229019165, -1.4704877138137817, 1.9084622859954834, 1.0541274547576904, -1.0736734867095947, 0.5660156011581421], "source_tool_goal_m": [-0.09965936196337762, -0.22770700325576657, 0.024815694256864793], "target_tool_goal_m": [0.17268686233518518, 0.18382415174678643, 0.10063022060640338], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7058833918845954, "joint2": 1.6900880502835582, "joint3": 1.3341406789131862, "joint4": -1.2481706814397366, "joint5": -0.15564728210317993, "joint6": 0.053627971382368224, "gripper": 0.03034167059694018}, "target_simulation_time": 29.11999999999474, "target_positions": {"joint1": 0.7058833787171225, "joint2": 1.6900880451164795, "joint3": 1.3341406806841554, "joint4": -1.2481707206304349, "joint5": -0.15564517184018903, "joint6": 0.05362771174727478, "gripper": 0.027161476114832394}, "target_object": {"position_m": [0.16943401666194055, 0.18709657290136497, 0.10005311290088555], "quaternion_wxyz": [0.44490767064220127, 9.550408107722157e-09, 1.3756912607329272e-09, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249897695364}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250003207624}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499580451596}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250063557744}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825612699691563e-05}, "target_sequence": 14560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 364, "source_target": [-0.4834752380847931, -1.470703125, 1.9108151197433472, 1.055554747581482, -1.0750948190689087, 0.590624988079071], "source_tool_goal_m": [-0.09945054264687002, -0.22704756578977806, 0.024509760136800715], "target_tool_goal_m": [0.17336395679940328, 0.18388553234668734, 0.1003242864863393], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7044481715904186, "joint2": 1.6931954623110086, "joint3": 1.3347686604580113, "joint4": -1.2444882418523175, "joint5": -0.15456763760140158, "joint6": 0.05338072209519365, "gripper": 0.03166087436097009}, "target_simulation_time": 29.199999999994695, "target_positions": {"joint1": 0.7058591189939689, "joint2": 1.6902036300151502, "joint3": 1.3341696336734683, "joint4": -1.2477963381831367, "joint5": -0.15573355402390623, "joint6": 0.05372034771722805, "gripper": 0.028284845905482373}, "target_object": {"position_m": [0.16943401636549005, 0.18709657299909158, 0.10005311295927645], "quaternion_wxyz": [0.44490767064220127, 1.815172732827716e-09, 2.6483803663830526e-10, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249980541431}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000575439}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249992044911}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250012078932}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825606860601241e-05}, "target_sequence": 14600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 365, "source_target": [-0.4831477701663971, -1.471763014793396, 1.907720685005188, 1.0563074350357056, -1.0746841430664062, 0.62890625], "source_tool_goal_m": [-0.0996770020417775, -0.22762699277910567, 0.02511393476528813], "target_tool_goal_m": [0.17275267953750317, 0.1838705534077011, 0.10092846111482673], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7058591189939689, "joint2": 1.6902036300151502, "joint3": 1.3341696336734683, "joint4": -1.2477963381831367, "joint5": -0.15573355402390623, "joint6": 0.05372034771722805, "gripper": 0.03371296875}, "target_simulation_time": 29.27999999999465, "target_positions": {"joint1": 0.7059069382509466, "joint2": 1.6901689194424703, "joint3": 1.3342218320735832, "joint4": -1.2478038021787898, "joint5": -0.1562671893226143, "joint6": 0.05394943759573967, "gripper": 0.028477345000929046}, "target_object": {"position_m": [0.16943401630909757, 0.18709657301756805, 0.10005311297039739], "quaternion_wxyz": [0.44490767064220127, 3.449969361126199e-10, 5.097778852918067e-11, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499962989486}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000102868}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499984916606}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500022955914}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560574850749e-05}, "target_sequence": 14640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 366, "source_target": [-0.4833052456378937, -1.4711062908172607, 1.9062846899032593, 1.0581601858139038, -1.0728938579559326, 0.6412109136581421], "source_tool_goal_m": [-0.09968259114146852, -0.22757455492807982, 0.025171101266364918], "target_tool_goal_m": [0.17279808528736967, 0.1838955514002585, 0.10098562761590352], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7059069382509466, "joint2": 1.6901689194424703, "joint3": 1.3342218320735832, "joint4": -1.2478038021787898, "joint5": -0.1562671893226143, "joint6": 0.05394943759573967, "gripper": 0.03437256903444018}, "target_simulation_time": 29.359999999994606, "target_positions": {"joint1": 0.7059756782524792, "joint2": 1.690110806688758, "joint3": 1.3342898756619992, "joint4": -1.2478237952366553, "joint5": -0.15697064707030767, "joint6": 0.05421999348607151, "gripper": 0.02868236362634704}, "target_object": {"position_m": [0.1694340162983702, 0.18709657302106114, 0.10005311297251543], "quaternion_wxyz": [0.44490767064220127, 6.557129774562171e-11, 9.811247404866477e-12, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999296045}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000183165}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499997140106}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000436279}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605536703305e-05}, "target_sequence": 14680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 367, "source_target": [-0.48382535576820374, -1.471260666847229, 1.9106346368789673, 1.0548733472824097, -1.0752248764038086, 0.6753906011581421], "source_tool_goal_m": [-0.09960363365680702, -0.2271823885359228, 0.024642217667915647], "target_tool_goal_m": [0.1731835611753476, 0.183973048580404, 0.10045674401745423], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7043157487608033, "joint2": 1.6927900570104957, "joint3": 1.3346962432270588, "joint4": -1.2447721818355328, "joint5": -0.15575549188445875, "joint6": 0.05393018909859014, "gripper": 0.03620479559694018}, "target_simulation_time": 29.439999999994562, "target_positions": {"joint1": 0.70601622162023, "joint2": 1.6901079094352522, "joint3": 1.3343542449426264, "joint4": -1.2477769947932995, "joint5": -0.1577950723883155, "joint6": 0.054653451394292334, "gripper": 0.028934069472246998}, "target_object": {"position_m": [0.16943401629632943, 0.18709657302172156, 0.10005311297291883], "quaternion_wxyz": [0.44490767064220127, 1.2462742010012366e-11, 1.8880410160855265e-12, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999986608}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000003214}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999945742}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000082877}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605496363352e-05}, "target_sequence": 14720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 368, "source_target": [-0.4827491044998169, -1.4705204963684082, 1.911712408065796, 1.0528879165649414, -1.0742264986038208, 0.6986327767372131], "source_tool_goal_m": [-0.09941236914773872, -0.22730245096264992, 0.024389934144897943], "target_tool_goal_m": [0.17314743627583468, 0.18375404794980088, 0.10020446049443653], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7035652033892076, "joint2": 1.6933448627158625, "joint3": 1.3340285589968475, "joint4": -1.2448264133779066, "joint5": -0.15597613553796788, "joint6": 0.054203017872268264, "gripper": 0.03745070902041027}, "target_simulation_time": 29.519999999994518, "target_positions": {"joint1": 0.7060489268955419, "joint2": 1.6901125330181477, "joint3": 1.3344154321629822, "joint4": -1.2477224565694758, "joint5": -0.1587790208675194, "joint6": 0.05515246488263137, "gripper": 0.029195335309762684}, "target_object": {"position_m": [0.16943401629594118, 0.1870965730218464, 0.10005311297299566], "quaternion_wxyz": [0.44490767064220127, 2.3687241864621464e-12, 3.632827089143253e-13, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999974533}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000574}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999897234}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000015765}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605488680608e-05}, "target_sequence": 14760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 369, "source_target": [-0.48255226016044617, -1.4709346294403076, 1.911394715309143, 1.054089903831482, -1.0742237567901611, 0.699999988079071], "source_tool_goal_m": [-0.09934055893781563, -0.22725337879747143, 0.02449070359349914], "target_tool_goal_m": [0.17321921132540286, 0.18370761109799547, 0.10030522994303773], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7028503243820752, "joint2": 1.6931166211084843, "joint3": 1.3341485860894287, "joint4": -1.2449529397036367, "joint5": -0.1564899121887826, "joint6": 0.05457539891235616, "gripper": 0.03752399936097009}, "target_simulation_time": 29.599999999994473, "target_positions": {"joint1": 0.7060567349989781, "joint2": 1.6901034503034698, "joint3": 1.3344872085827362, "joint4": -1.2476910560335652, "joint5": -0.15971842812443454, "joint6": 0.055629214661259474, "gripper": 0.029401064173755907}, "target_object": {"position_m": [0.1694340162958673, 0.18709657302186997, 0.1000531129730103], "quaternion_wxyz": [0.44490767064220127, 4.502115516217701e-13, 6.989275807899127e-14, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999995169}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000001185}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999980584}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000003007}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605487216502e-05}, "target_sequence": 14800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 370, "source_target": [-0.4840261936187744, -1.4705713987350464, 1.9102561473846436, 1.0554478168487549, -1.0744283199310303, 0.6917968392372131], "source_tool_goal_m": [-0.09960537939699203, -0.22709944389329112, 0.024564987885371994], "target_tool_goal_m": [0.1732580794792103, 0.18400615874678758, 0.10037951423491058], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7029177530272536, "joint2": 1.6932023469772834, "joint3": 1.3345813866894465, "joint4": -1.2445021464756263, "joint5": -0.15748848195226015, "joint6": 0.055072529159603756, "gripper": 0.03708426370791027}, "target_simulation_time": 29.67999999999443, "target_positions": {"joint1": 0.7060508630477829, "joint2": 1.6900920775838006, "joint3": 1.3345674573466315, "joint4": -1.247675525497565, "joint5": -0.16052924997021853, "joint6": 0.05608651310774657, "gripper": 0.029559729588899582}, "target_object": {"position_m": [0.16943401629585328, 0.1870965730218745, 0.10005311297301309], "quaternion_wxyz": [0.44490767064220127, 8.557100023867084e-14, 1.3446396148542266e-14, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999990874}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000024}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999637}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000005835}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486937558e-05}, "target_sequence": 14840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 371, "source_target": [-0.48339271545410156, -1.4721369743347168, 1.9100050926208496, 1.0566781759262085, -1.0731661319732666, 0.694531261920929], "source_tool_goal_m": [-0.09949610878565546, -0.22717907500819806, 0.02486015582295953], "target_tool_goal_m": [0.17322743550851283, 0.1838768464327992, 0.10067468217249811], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.702262665013587, "joint2": 1.6923311208414418, "joint3": 1.334767094999273, "joint4": -1.2452534369223889, "joint5": -0.15793624255499703, "joint6": 0.05542495720834303, "gripper": 0.03723084438902992}, "target_simulation_time": 29.759999999994385, "target_positions": {"joint1": 0.7060227722322713, "joint2": 1.690061979609058, "joint3": 1.3346550766472678, "joint4": -1.2476825881939353, "joint5": -0.16128252827164136, "joint6": 0.0564916248075163, "gripper": 0.029716173556142752}, "target_object": {"position_m": [0.16943401629585064, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.6266169802065145e-14, 2.5864841013331262e-15, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999999986}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000374}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000001394}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 14880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 372, "source_target": [-0.4856332242488861, -1.469333529472351, 1.9059498310089111, 1.0579557418823242, -1.0737930536270142, 0.6917968392372131], "source_tool_goal_m": [-0.10007533529217327, -0.22727854778477358, 0.024905754274795244], "target_tool_goal_m": [0.17291710452497017, 0.18436405299155226, 0.10072028062433383], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7034253420712503, "joint2": 1.6924546819103592, "joint3": 1.3349634307996245, "joint4": -1.2450092019322678, "joint5": -0.15946446435098763, "joint6": 0.05603885782167064, "gripper": 0.03708426370791027}, "target_simulation_time": 29.83999999999434, "target_positions": {"joint1": 0.7060230246615908, "joint2": 1.6900326777691304, "joint3": 1.3347449408162733, "joint4": -1.2476854346509245, "joint5": -0.162049551334619, "joint6": 0.0569172976803461, "gripper": 0.029874636175096978}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 3.0938951268070375e-15, 4.977147943424925e-16, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999976}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000022}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999989}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000036}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 14920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 373, "source_target": [-0.4839509427547455, -1.4700889587402344, 1.9051618576049805, 1.0620503425598145, -1.076280117034912, 0.697265625], "source_tool_goal_m": [-0.09958899641369329, -0.22709424615514662, 0.02509307454589567], "target_tool_goal_m": [0.17326901804293637, 0.18399328473818097, 0.10090760089543427], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7016296078751975, "joint2": 1.6919055699706773, "joint3": 1.3352079206143685, "joint4": -1.245393739901135, "joint5": -0.1591046122629184, "joint6": 0.056160956897059515, "gripper": 0.037377421875000004}, "target_simulation_time": 29.919999999994296, "target_positions": {"joint1": 0.7059759051763093, "joint2": 1.689997374485122, "joint3": 1.3348343475090896, "joint4": -1.247701657149176, "joint5": -0.16274846037173793, "joint6": 0.0572926172868869, "gripper": 0.030020873553244752}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 5.919388842811451e-16, 9.415944728000927e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999994}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999846}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 14960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 374, "source_target": [-0.4865867495536804, -1.474968433380127, 1.8997832536697388, 1.067179799079895, -1.0730583667755127, 0.699999988079071], "source_tool_goal_m": [-0.10042757469828473, -0.2275237864803247, 0.02663279926828599], "target_tool_goal_m": [0.17256092912826254, 0.18459010952988517, 0.10244732561782458], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7035632883502916, "joint2": 1.6877880646395418, "joint3": 1.3370591443758997, "joint4": -1.2479106504073993, "joint5": -0.1614814206865809, "joint6": 0.05695182984196962, "gripper": 0.03752399936097009}, "target_simulation_time": 29.99999999999425, "target_positions": {"joint1": 0.7059591432436849, "joint2": 1.689497557795852, "joint3": 1.335238362724437, "joint4": -1.2479317780419974, "joint5": -0.1633705663049748, "joint6": 0.05758219439598742, "gripper": 0.030566049623108698}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.1483879828968342e-16, 1.8922231689513234e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999996}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999993}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999995}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 375, "source_target": [-0.4870035946369171, -1.4717189073562622, 1.896280288696289, 1.0734976530075073, -1.0732334852218628, 0.699999988079071], "source_tool_goal_m": [-0.10024752078963162, -0.22699767235851592, 0.02645721760376825], "target_tool_goal_m": [0.17310624402890215, 0.1846268863005221, 0.10227174395330685], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7023975847658155, "joint2": 1.6886424173118035, "joint3": 1.3375265789882387, "joint4": -1.2467282185899056, "joint5": -0.16127691601725674, "joint6": 0.05703813631759423, "gripper": 0.03752399936097009}, "target_simulation_time": 30.079999999994207, "target_positions": {"joint1": 0.7058608254928624, "joint2": 1.6891810151365334, "joint3": 1.3358520242343432, "joint4": -1.247999609576087, "joint5": -0.16372208660548987, "joint6": 0.057768937869377944, "gripper": 0.031892339951603496}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 2.839426168765451e-17, 4.7947118541004636e-18, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 376, "source_target": [-0.4842488765716553, -1.473683476448059, 1.897260069847107, 1.0732722282409668, -1.0736005306243896, 0.6904296875], "source_tool_goal_m": [-0.0997547310448916, -0.22728758425638235, 0.026672448053577963], "target_tool_goal_m": [0.1730307775789019, 0.1840700192041793, 0.10248697440311655], "open_jaw_clearance_m": 0.0, "target_joint_target": {"joint1": 0.7011913653885934, "joint2": 1.6877190010104708, "joint3": 1.3371892778113388, "joint4": -1.2482582114971088, "joint5": -0.16087508708889758, "joint6": 0.05700862428017816, "gripper": 0.037010976562500006}, "target_simulation_time": 30.159999999994163, "target_positions": {"joint1": 0.7054768192590439, "joint2": 1.6889255294603631, "joint3": 1.3361095042062145, "joint4": -1.2481096451846738, "joint5": -0.16386601601746564, "joint6": 0.057832640330998955, "gripper": 0.03259193002765308}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.747706716514851e-17, 1.2637739297924947e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15080, "shadow_success": true, "shadow_done": true, "ik_error": null}
{"tick": 377, "phase": "settle_after_policy", "target_simulation_time": 30.23999999999412, "target_positions": {"joint1": 0.7049195771681097, "joint2": 1.688797882911429, "joint3": 1.3362055453299784, "joint4": -1.2481886873669499, "joint5": -0.1638991098362345, "joint6": 0.057833605914602244, "gripper": 0.03291209044441501}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.7835226280933347e-17, 2.240114820569686e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15120}
{"tick": 378, "phase": "settle_after_policy", "target_simulation_time": 30.319999999994074, "target_positions": {"joint1": 0.7045763203102087, "joint2": 1.6887303562037153, "joint3": 1.336273719112035, "joint4": -1.24824635683286, "joint5": -0.1638709816234873, "joint6": 0.057811643272155544, "gripper": 0.03310446904307389}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 6.974414555405627e-18, 1.6725782210878504e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15160}
{"tick": 379, "phase": "settle_after_policy", "target_simulation_time": 30.39999999999403, "target_positions": {"joint1": 0.7044387563063915, "joint2": 1.6886701537056017, "joint3": 1.3363349290443414, "joint4": -1.2482939455089208, "joint5": -0.16380994937180748, "joint6": 0.05777852866423376, "gripper": 0.03327747770558895}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 9.525428158131532e-18, 1.800161289509107e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15200}
{"tick": 380, "phase": "settle_after_policy", "target_simulation_time": 30.479999999993986, "target_positions": {"joint1": 0.7043307775795397, "joint2": 1.688614355307497, "joint3": 1.33639095387631, "joint4": -1.2483337615897714, "joint5": -0.16373112432137962, "joint6": 0.05774134946247429, "gripper": 0.03343566822397969}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.1479698077321128e-17, 2.4710413742970147e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15240}
{"tick": 381, "phase": "settle_after_policy", "target_simulation_time": 30.55999999999394, "target_positions": {"joint1": 0.7042290674133355, "joint2": 1.6885626703111778, "joint3": 1.3364422610954372, "joint4": -1.248366178073457, "joint5": -0.1636348412813757, "joint6": 0.05770158754219268, "gripper": 0.033580588065447205}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.278814693728447e-17, 2.2519162137353558e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15280}
{"tick": 382, "phase": "settle_after_policy", "target_simulation_time": 30.639999999993897, "target_positions": {"joint1": 0.7041340393825953, "joint2": 1.6885146627399057, "joint3": 1.3364894341669282, "joint4": -1.2483919844938678, "joint5": -0.16352693363329193, "joint6": 0.057661010053544806, "gripper": 0.033714290783452165}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.4039572234330354e-17, 2.1155587617085843e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15320}
{"tick": 383, "phase": "settle_after_policy", "target_simulation_time": 30.719999999993853, "target_positions": {"joint1": 0.7040460644749528, "joint2": 1.6884697753138191, "joint3": 1.3365331377934815, "joint4": -1.2484121364410892, "joint5": -0.1634140797332075, "joint6": 0.057621619601641395, "gripper": 0.033839164919836295}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.1442263790787924e-17, 2.1942062184626534e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15360}
{"tick": 384, "phase": "settle_after_policy", "target_simulation_time": 30.79999999999381, "target_positions": {"joint1": 0.7040417548587418, "joint2": 1.6884586102350672, "joint3": 1.336544605145465, "joint4": -1.2484161927974047, "joint5": -0.16345634313010554, "joint6": 0.05764163415393085, "gripper": 0.03382577386038666}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 8.916459076995657e-18, 1.8749210648929562e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15400}
{"tick": 385, "phase": "settle_after_policy", "target_simulation_time": 30.879999999993764, "target_positions": {"joint1": 0.7040452056797051, "joint2": 1.688456006176918, "joint3": 1.3365474748513677, "joint4": -1.2484174444256835, "joint5": -0.16348522575493962, "joint6": 0.057651220158014806, "gripper": 0.03381187346179117}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.7567647390205253e-18, 2.3107670998215343e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15440}
{"tick": 386, "phase": "settle_after_policy", "target_simulation_time": 30.95999999999372, "target_positions": {"joint1": 0.7040470400607693, "joint2": 1.6884548783594966, "joint3": 1.3365486319902244, "joint4": -1.248418289119636, "joint5": -0.16349462210640203, "joint6": 0.05765250105269255, "gripper": 0.03380651614000041}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 7.048594474036333e-18, 2.4284546734725442e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15480}
{"tick": 387, "phase": "settle_after_policy", "target_simulation_time": 31.039999999993675, "target_positions": {"joint1": 0.7040482196584585, "joint2": 1.6884543274913957, "joint3": 1.336549119378473, "joint4": -1.2484189294847554, "joint5": -0.1634966072928112, "joint6": 0.057651076720376455, "gripper": 0.0338044053568026}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 7.737557874183685e-18, 2.3540042091215778e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15520}
{"tick": 388, "phase": "settle_after_policy", "target_simulation_time": 31.11999999999363, "target_positions": {"joint1": 0.7040491129974935, "joint2": 1.6884540155302272, "joint3": 1.3365493326390274, "joint4": -1.2484194293722783, "joint5": -0.16349578028948178, "joint6": 0.05764896761297079, "gripper": 0.033803540793432625}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.0335804989870646e-17, 2.2333228041296957e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15560}
{"tick": 389, "phase": "settle_after_policy", "target_simulation_time": 31.199999999993587, "target_positions": {"joint1": 0.7040498633531039, "joint2": 1.688453812410026, "joint3": 1.3365494251617789, "joint4": -1.2484198135594378, "joint5": -0.16349390687590148, "joint6": 0.05764686863515594, "gripper": 0.03380316597437928}, "target_object": {"position_m": [0.16943401629585023, 0.18709657302187527, 0.1000531129730136], "quaternion_wxyz": [0.44490767064220127, 1.2136876709802983e-17, 2.680169113056381e-17, 0.8955764426355407], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548688621e-05}, "target_sequence": 15600}
