{"tick": 0, "source_target": [0.5309028029441833, -1.3722734451293945, 1.3263784646987915, 1.6236151456832886, -2.1009674072265625, 0.699999988079071], "source_tool_goal_m": [0.10420908144452945, -0.22950480443078136, 0.08373758069426677], "target_tool_goal_m": [0.24854906658195788, -0.0016476439025129817, 0.15955210704380535], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 0, "api_command_sequence": 0, "api_accepted_sequence": 0, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004498660669756926, "joint2": 1.4983425563202757, "joint3": 1.401610764931806, "joint4": -1.3009176420426312, "joint5": 0.0029823384967683207, "joint6": -0.0007929796696357223, "gripper": 0.03752399936097009}, "target_simulation_time": 0.08000000000000006, "target_positions": {"joint1": -0.0009319544215701186, "joint2": 1.4116157395478968, "joint3": 1.4593794952215824, "joint4": -1.2999528997217482, "joint5": 0.0003000976727029928, "joint6": -0.00015531627067669914, "gripper": 0.037524161295854064}, "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": [0.5302572846412659, -1.3729214668273926, 1.3310866355895996, 1.6211954355239868, -2.1013946533203125, 0.699999988079071], "source_tool_goal_m": [0.10395286131929332, -0.22933625340215705, 0.08322872986052164], "target_tool_goal_m": [0.2486044519843159, -0.001351335998257754, 0.1590432562100602], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 40, "api_command_sequence": 1, "api_accepted_sequence": 1, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0038532730054498866, "joint2": 1.489017883321833, "joint3": 1.3910322711147018, "joint4": -1.2895275830691504, "joint5": 0.0021966331258959416, "joint6": -0.00065985380704647, "gripper": 0.03752399936097009}, "target_simulation_time": 0.16000000000000011, "target_positions": {"joint1": -0.0017214959054453324, "joint2": 1.4490127894384013, "joint3": 1.4241159224288835, "joint4": -1.2871498468222304, "joint5": 0.0005866109098921574, "joint6": -0.0002702188359306428, "gripper": 0.03752314392029629}, "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": [0.5299256443977356, -1.3777140378952026, 1.3363765478134155, 1.6170687675476074, -2.1018335819244385, 0.699999988079071], "source_tool_goal_m": [0.10391807104067141, -0.2294138248945314, 0.08338717330373847], "target_tool_goal_m": [0.2485209163752798, -0.0013492871738990091, 0.15920169965327707], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 80, "api_command_sequence": 2, "api_accepted_sequence": 2, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.003904196944441908, "joint2": 1.4826744297288301, "joint3": 1.3877669213606498, "joint4": -1.288089565748991, "joint5": 0.002001371067946521, "joint6": -0.0006457568286454606, "gripper": 0.03752399936097009}, "target_simulation_time": 0.24000000000000019, "target_positions": {"joint1": -0.0018318154212637917, "joint2": 1.4897637684371428, "joint3": 1.3896721535262642, "joint4": -1.2869448766233624, "joint5": 0.0007842735218395553, "joint6": -0.0003535370475697352, "gripper": 0.03752332710495354}, "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": [0.5337521433830261, -1.3802019357681274, 1.338167428970337, 1.6154097318649292, -2.1005048751831055, 0.699999988079071], "source_tool_goal_m": [0.10466685742142265, -0.22909568423119867, 0.08359662103145617], "target_tool_goal_m": [0.2490939009994678, -0.0019070674182724186, 0.15941114738099477], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 120, "api_command_sequence": 3, "api_accepted_sequence": 3, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005347729007877557, "joint2": 1.4878402556663024, "joint3": 1.3913231210014938, "joint4": -1.287351315084763, "joint5": 0.00312680411505811, "joint6": -0.0009751609899482417, "gripper": 0.03752399936097009}, "target_simulation_time": 0.32000000000000023, "target_positions": {"joint1": -0.002325678991196477, "joint2": 1.5143105464756876, "joint3": 1.3733304283051726, "joint4": -1.2875096801618733, "joint5": 0.0010531385608391825, "joint6": -0.00048283099405737234, "gripper": 0.03752388452513499}, "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": [0.5291644334793091, -1.3861324787139893, 1.3433696031570435, 1.6074659824371338, -2.1030426025390625, 0.699999988079071], "source_tool_goal_m": [0.10416589116617014, -0.23015163037794875, 0.083967008282841], "target_tool_goal_m": [0.24794636002485665, -0.0018543586322980932, 0.1597815346323796], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 160, "api_command_sequence": 4, "api_accepted_sequence": 4, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005241443436006632, "joint2": 1.4887380842785949, "joint3": 1.3934863029230165, "joint4": -1.2950251982422474, "joint5": 0.0030320180800611817, "joint6": -0.0010071283097845458, "gripper": 0.03752399936097009}, "target_simulation_time": 0.4000000000000003, "target_positions": {"joint1": -0.002841531260122466, "joint2": 1.5172007533064344, "joint3": 1.3742465012368925, "joint4": -1.2914527401408709, "joint5": 0.0013212585395262115, "joint6": -0.0005981432003971988, "gripper": 0.0375234537143102}, "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": [0.5299121737480164, -1.3927130699157715, 1.3510289192199707, 1.6020293235778809, -2.1030595302581787, 0.699999988079071], "source_tool_goal_m": [0.10429234697426179, -0.2300534608059586, 0.08413331714391067], "target_tool_goal_m": [0.24808340862031825, -0.0019316645619775418, 0.15994784349344926], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 200, "api_command_sequence": 5, "api_accepted_sequence": 5, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005484849312376925, "joint2": 1.491145828931642, "joint3": 1.396459635382909, "joint4": -1.2976786167140402, "joint5": 0.0031277289056989128, "joint6": -0.0010766173507781604, "gripper": 0.03752399936097009}, "target_simulation_time": 0.48000000000000037, "target_positions": {"joint1": -0.0030596014709743363, "joint2": 1.5072548491419702, "joint3": 1.383772244855384, "joint4": -1.2945741650563458, "joint5": 0.0015624126558134632, "joint6": -0.0007021068618485491, "gripper": 0.03752339369862295}, "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": [0.5323391556739807, -1.3994083404541016, 1.3607115745544434, 1.5935683250427246, -2.104381799697876, 0.699999988079071], "source_tool_goal_m": [0.10481753152449069, -0.22992497915533044, 0.08404665163502267], "target_tool_goal_m": [0.2483994918370329, -0.0023588604738217344, 0.15986117798456126], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 240, "api_command_sequence": 6, "api_accepted_sequence": 6, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0065886073032251306, "joint2": 1.4926248003026152, "joint3": 1.3974570166494231, "joint4": -1.2968637752430756, "joint5": 0.003950470264459582, "joint6": -0.0013353944609153785, "gripper": 0.03752399936097009}, "target_simulation_time": 0.5600000000000004, "target_positions": {"joint1": -0.0035799129937568916, "joint2": 1.49510313373971, "joint3": 1.3944369327928603, "joint4": -1.2949268517373012, "joint5": 0.001844149483978205, "joint6": -0.0008361635565538846, "gripper": 0.037523881339153256}, "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": [0.5325892567634583, -1.4077988862991333, 1.3661181926727295, 1.5915155410766602, -2.1022210121154785, 0.699999988079071], "source_tool_goal_m": [0.10478207272209619, -0.22976886406152336, 0.0848410489786708], "target_tool_goal_m": [0.24852751802633186, -0.0022673798689479456, 0.1606555753282094], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 280, "api_command_sequence": 7, "api_accepted_sequence": 7, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00636839515499878, "joint2": 1.4901686300732881, "joint3": 1.3984062207038608, "joint4": -1.2962284977083067, "joint5": 0.0037121319109566786, "joint6": -0.0013316258418887335, "gripper": 0.03752399936097009}, "target_simulation_time": 0.6400000000000005, "target_positions": {"joint1": -0.004041769009774722, "joint2": 1.486474250188676, "joint3": 1.400524636816855, "joint4": -1.2949822401802125, "joint5": 0.002104623974261777, "joint6": -0.0009457760692186518, "gripper": 0.03752334438601454}, "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": [0.5323834419250488, -1.4129018783569336, 1.3759915828704834, 1.5830745697021484, -2.1021080017089844, 0.6958984136581421], "source_tool_goal_m": [0.1047755265150124, -0.22984424788833388, 0.0844370545030998], "target_tool_goal_m": [0.24845670109891943, -0.002290100213312009, 0.16025158085263838], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 320, "api_command_sequence": 8, "api_accepted_sequence": 8, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006456365350318568, "joint2": 1.4899269277341671, "joint3": 1.396714112135939, "joint4": -1.2950337335992972, "joint5": 0.0037062272119881877, "joint6": -0.0013708510595624157, "gripper": 0.03730413153444018}, "target_simulation_time": 0.7200000000000005, "target_positions": {"joint1": -0.004155051335562106, "joint2": 1.4835586516006158, "joint3": 1.4012745091904137, "joint4": -1.2949297362638028, "joint5": 0.0023205423631461036, "joint6": -0.0010387134719056909, "gripper": 0.0375185159650333}, "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": [0.5305525660514832, -1.4197791814804077, 1.3832720518112183, 1.5763062238693237, -2.1025924682617188, 0.699999988079071], "source_tool_goal_m": [0.10455522520270152, -0.23023485602923455, 0.08470601339160168], "target_tool_goal_m": [0.24801891189798947, -0.0022388896026928505, 0.16052053974114028], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 360, "api_command_sequence": 9, "api_accepted_sequence": 9, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006254726865678283, "joint2": 1.4877992395486455, "joint3": 1.3958836904241514, "joint4": -1.2956431754412798, "joint5": 0.0037096676606590577, "joint6": -0.0014072921743394878, "gripper": 0.03752399936097009}, "target_simulation_time": 0.8000000000000006, "target_positions": {"joint1": -0.00423200230478311, "joint2": 1.4837929505366554, "joint3": 1.4000786939981766, "joint4": -1.2949894045683696, "joint5": 0.002502392217733171, "joint6": -0.0011194726445744854, "gripper": 0.03751898766326771}, "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": [0.5329487919807434, -1.4256824254989624, 1.3935863971710205, 1.5690208673477173, -2.1026291847229004, 0.6917968392372131], "source_tool_goal_m": [0.10491999837845341, -0.22985088300325104, 0.08438189416845841], "target_tool_goal_m": [0.24850560167797592, -0.002423573037270935, 0.16019642051799698], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 400, "api_command_sequence": 10, "api_accepted_sequence": 10, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0066821818333675335, "joint2": 1.4890299963191913, "joint3": 1.3956934144248332, "joint4": -1.2937969038789914, "joint5": 0.00412641964213256, "joint6": -0.0015507913907121965, "gripper": 0.03708426370791027}, "target_simulation_time": 0.8800000000000007, "target_positions": {"joint1": -0.004318853076928831, "joint2": 1.485089104923599, "joint3": 1.398708417812607, "joint4": -1.2948604144209135, "joint5": 0.0027072076825373987, "joint6": -0.0012112151821438045, "gripper": 0.03750980193309609}, "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": [0.5329060554504395, -1.4320400953292847, 1.400431513786316, 1.5621544122695923, -2.1025171279907227, 0.699999988079071], "source_tool_goal_m": [0.10505819723784371, -0.23010349823124698, 0.08461659712814115], "target_tool_goal_m": [0.24832915895951094, -0.0026448586212599805, 0.16043112347767974], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 440, "api_command_sequence": 11, "api_accepted_sequence": 11, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007206257826915183, "joint2": 1.4881971390221018, "joint3": 1.395831304901124, "joint4": -1.2943980607084167, "joint5": 0.004626661678450599, "joint6": -0.0017207604020314006, "gripper": 0.03752399936097009}, "target_simulation_time": 0.9600000000000007, "target_positions": {"joint1": -0.004536947567092828, "joint2": 1.4864755681723947, "joint3": 1.3978756873490008, "joint4": -1.2947811745790196, "joint5": 0.0029441149589278775, "joint6": -0.0013198264010692495, "gripper": 0.03751061542619266}, "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": [0.5315128564834595, -1.440476894378662, 1.4092845916748047, 1.5559693574905396, -2.1023919582366943, 0.699999988079071], "source_tool_goal_m": [0.10478433266822408, -0.23022270989543814, 0.08494802710124835], "target_tool_goal_m": [0.24811700654728536, -0.0024419381234767417, 0.16076255345078694], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 480, "api_command_sequence": 12, "api_accepted_sequence": 12, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006614078363042069, "joint2": 1.4872880153753274, "joint3": 1.3962909740314773, "joint4": -1.2954163922449453, "joint5": 0.004326688490297329, "joint6": -0.0016865973067354651, "gripper": 0.03752399936097009}, "target_simulation_time": 1.0400000000000007, "target_positions": {"joint1": -0.004637158293478832, "joint2": 1.4868081424089508, "joint3": 1.3976450507814784, "joint4": -1.294875759984116, "joint5": 0.0031350719394702335, "joint6": -0.001401897832275195, "gripper": 0.03751157791973668}, "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": [0.530349612236023, -1.4469928741455078, 1.4193729162216187, 1.550610899925232, -2.103167772293091, 0.6904296875], "source_tool_goal_m": [0.10436606777887081, -0.22999522872590197, 0.08474973720574826], "target_tool_goal_m": [0.2481642125400259, -0.0019763514518291096, 0.16056426355528686], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 520, "api_command_sequence": 13, "api_accepted_sequence": 13, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004637158293478832, "joint2": 1.4868081424089508, "joint3": 1.3976450507814784, "joint4": -1.294875759984116, "joint5": 0.0031350719394702335, "joint6": -0.001401897832275195, "gripper": 0.037010976562500006}, "target_simulation_time": 1.1200000000000008, "target_positions": {"joint1": -0.0046457408669185905, "joint2": 1.4868122635821182, "joint3": 1.3976373308937386, "joint4": -1.2948897228558818, "joint5": 0.0031572868075991313, "joint6": -0.0014094717001481496, "gripper": 0.037501005073265696}, "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": [0.5279261469841003, -1.4536170959472656, 1.4260520935058594, 1.543601632118225, -2.1031107902526855, 0.693164050579071], "source_tool_goal_m": [0.10408688050283398, -0.2305375936759455, 0.0850560017725327], "target_tool_goal_m": [0.2475664864712184, -0.001929449773453491, 0.16087052812207128], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 560, "api_command_sequence": 14, "api_accepted_sequence": 14, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005169536822177588, "joint2": 1.486310746124172, "joint3": 1.3958227961264158, "joint4": -1.2970359371744533, "joint5": 0.003504265306412567, "joint6": -0.0015009895562716924, "gripper": 0.03715755404847009}, "target_simulation_time": 1.2000000000000008, "target_positions": {"joint1": -0.004662427406307483, "joint2": 1.486797455150598, "joint3": 1.3975802002307567, "joint4": -1.2951990709825807, "joint5": 0.0031959616927870363, "joint6": -0.0014271483406882075, "gripper": 0.0374937614550631}, "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": [0.5307926535606384, -1.4597634077072144, 1.4344950914382935, 1.5360685586929321, -2.1007742881774902, 0.6986327767372131], "source_tool_goal_m": [0.10469108388255495, -0.23037279871209598, 0.0850317123788248], "target_tool_goal_m": [0.24794552002794792, -0.002414466227894812, 0.1608462387283634], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 600, "api_command_sequence": 15, "api_accepted_sequence": 15, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004662427406307483, "joint2": 1.486797455150598, "joint3": 1.3975802002307567, "joint4": -1.2951990709825807, "joint5": 0.0031959616927870363, "joint6": -0.0014271483406882075, "gripper": 0.03745070902041027}, "target_simulation_time": 1.280000000000001, "target_positions": {"joint1": -0.004664649963167808, "joint2": 1.4867960006136067, "joint3": 1.3975713513397257, "joint4": -1.295241655543339, "joint5": 0.0032016660204800653, "joint6": -0.0014290975205320648, "gripper": 0.03749398090553948}, "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": [0.5313381552696228, -1.467879295349121, 1.4421348571777344, 1.5312749147415161, -2.1024866104125977, 0.699999988079071], "source_tool_goal_m": [0.10474609519035687, -0.23023057669231073, 0.08545828846994688], "target_tool_goal_m": [0.24809534168290517, -0.0024102695047172446, 0.16127281481948547], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 640, "api_command_sequence": 16, "api_accepted_sequence": 16, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004664649963167808, "joint2": 1.4867960006136067, "joint3": 1.3975713513397257, "joint4": -1.295241655543339, "joint5": 0.0032016660204800653, "joint6": -0.0014290975205320648, "gripper": 0.03752399936097009}, "target_simulation_time": 1.360000000000001, "target_positions": {"joint1": -0.004664632601267773, "joint2": 1.4867960110509688, "joint3": 1.3975714011267701, "joint4": -1.2952407915706001, "joint5": 0.003201510031118002, "joint6": -0.0014290386752926312, "gripper": 0.0374955420368314}, "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": [0.5299784541130066, -1.4731239080429077, 1.4520710706710815, 1.5238045454025269, -2.1022536754608154, 0.699999988079071], "source_tool_goal_m": [0.10443723883095962, -0.23027617685158952, 0.08505382578833186], "target_tool_goal_m": [0.24793661087888516, -0.0021476518692594734, 0.16086835213787043], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 680, "api_command_sequence": 17, "api_accepted_sequence": 17, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004664632601267773, "joint2": 1.4867960110509688, "joint3": 1.3975714011267701, "joint4": -1.2952407915706001, "joint5": 0.003201510031118002, "joint6": -0.0014290386752926312, "gripper": 0.03752399936097009}, "target_simulation_time": 1.440000000000001, "target_positions": {"joint1": -0.004664625343457716, "joint2": 1.4867960109344986, "joint3": 1.3975714005448945, "joint4": -1.2952408091849035, "joint5": 0.0032014764800560886, "joint6": -0.0014290361241920955, "gripper": 0.03749650539898035}, "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": [0.5316821336746216, -1.4802736043930054, 1.4588741064071655, 1.5206091403961182, -2.1021835803985596, 0.699999988079071], "source_tool_goal_m": [0.10462593001785819, -0.229883247807819, 0.08540575062192102], "target_tool_goal_m": [0.24836448855123408, -0.0021693285487312097, 0.1612202769714596], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 720, "api_command_sequence": 18, "api_accepted_sequence": 18, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004664625343457716, "joint2": 1.4867960109344986, "joint3": 1.3975714005448945, "joint4": -1.2952408091849035, "joint5": 0.0032014764800560886, "joint6": -0.0014290361241920955, "gripper": 0.03752399936097009}, "target_simulation_time": 1.5200000000000011, "target_positions": {"joint1": -0.004664622883127832, "joint2": 1.4867960109428513, "joint3": 1.397571400542593, "joint4": -1.2952408088395093, "joint5": 0.003201464902498285, "joint6": -0.0014290348196925643, "gripper": 0.03749716439578717}, "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": [0.5338872671127319, -1.4864481687545776, 1.4649003744125366, 1.5141558647155762, -2.102651834487915, 0.699999988079071], "source_tool_goal_m": [0.10519567300902366, -0.22992552597666224, 0.08572000537914151], "target_tool_goal_m": [0.2485427302827787, -0.0027018196282771207, 0.1615345317286801], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 760, "api_command_sequence": 19, "api_accepted_sequence": 19, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007221864359855171, "joint2": 1.4861901697989734, "joint3": 1.3983382678764225, "joint4": -1.2951447259845306, "joint5": 0.004910002665227022, "joint6": -0.0018824582700537043, "gripper": 0.03752399936097009}, "target_simulation_time": 1.6000000000000012, "target_positions": {"joint1": -0.0047461212932472, "joint2": 1.48677934890588, "joint3": 1.397595566495365, "joint4": -1.2952276213626608, "joint5": 0.003393197331565387, "joint6": -0.0015174955327594674, "gripper": 0.03749755943144188}, "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": [0.5326719880104065, -1.4927403926849365, 1.4694430828094482, 1.5093141794204712, -2.100937604904175, 0.6958984136581421], "source_tool_goal_m": [0.10511850936181481, -0.2303101201369008, 0.0862572455642775], "target_tool_goal_m": [0.2481647997926886, -0.0027780645053595283, 0.16207177191381608], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 800, "api_command_sequence": 20, "api_accepted_sequence": 20, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007361902013670813, "joint2": 1.4843299749173626, "joint3": 1.3987664284542742, "joint4": -1.2965924678618068, "joint5": 0.005143087972691084, "joint6": -0.001981445796063734, "gripper": 0.03730413153444018}, "target_simulation_time": 1.6800000000000013, "target_positions": {"joint1": -0.004843120717153571, "joint2": 1.4867082189174563, "joint3": 1.3976361927099017, "joint4": -1.2954242192821308, "joint5": 0.0036176756102900406, "joint6": -0.0016177218488363956, "gripper": 0.0374932721152879}, "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": [0.5320000052452087, -1.4944937229156494, 1.4753974676132202, 1.503795862197876, -2.101199150085449, 0.699999988079071], "source_tool_goal_m": [0.10501434320326943, -0.23041407115306248, 0.08576957366560026], "target_tool_goal_m": [0.24803098328103457, -0.0027231597070367093, 0.16158410001513884], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 840, "api_command_sequence": 21, "api_accepted_sequence": 21, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004843120717153571, "joint2": 1.4867082189174563, "joint3": 1.3976361927099017, "joint4": -1.2954242192821308, "joint5": 0.0036176756102900406, "joint6": -0.0016177218488363956, "gripper": 0.03752399936097009}, "target_simulation_time": 1.7600000000000013, "target_positions": {"joint1": -0.004854120105104018, "joint2": 1.486697023605386, "joint3": 1.3976418460533981, "joint4": -1.2954490132638123, "joint5": 0.0036460946501103626, "joint6": -0.0016273905238473863, "gripper": 0.03749429103103158}, "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": [0.5283929109573364, -1.4976848363876343, 1.4844342470169067, 1.499194860458374, -2.1019020080566406, 0.6822265386581421], "source_tool_goal_m": [0.10409528059276546, -0.2303600689758014, 0.08508370784674588], "target_tool_goal_m": [0.2477305896027042, -0.001869585382983996, 0.16089823419628446], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 880, "api_command_sequence": 22, "api_accepted_sequence": 22, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004854120105104018, "joint2": 1.486697023605386, "joint3": 1.3976418460533981, "joint4": -1.2954490132638123, "joint5": 0.0036460946501103626, "joint6": -0.0016273905238473863, "gripper": 0.03657124090944018}, "target_simulation_time": 1.8400000000000014, "target_positions": {"joint1": -0.0048540219773959125, "joint2": 1.4866970588191601, "joint3": 1.3976418387701475, "joint4": -1.2954485036643757, "joint5": 0.0036456906339105183, "joint6": -0.0016271466654270007, "gripper": 0.03747503359975599}, "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": [0.5290250778198242, -1.5036540031433105, 1.484695315361023, 1.4974945783615112, -2.102764368057251, 0.697265625], "source_tool_goal_m": [0.10442360674545342, -0.23065219691282063, 0.086150986105045], "target_tool_goal_m": [0.24759060080834408, -0.002278223330811488, 0.16196551245458357], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 920, "api_command_sequence": 23, "api_accepted_sequence": 23, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005932231810076455, "joint2": 1.483822255273039, "joint3": 1.3978865799554725, "joint4": -1.2980772478359648, "joint5": 0.004368487793896321, "joint6": -0.0018181091140865146, "gripper": 0.037377421875000004}, "target_simulation_time": 1.9200000000000015, "target_positions": {"joint1": -0.004888466446213024, "joint2": 1.4865728985041113, "joint3": 1.3976481483483751, "joint4": -1.2958291321800728, "joint5": 0.003726926148247721, "joint6": -0.0016644360726260096, "gripper": 0.0374727743920359}, "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": [0.529494047164917, -1.4968091249465942, 1.483148217201233, 1.4984697103500366, -2.101811647415161, 0.699999988079071], "source_tool_goal_m": [0.10443306675362954, -0.23047460015072016, 0.08511973868330591], "target_tool_goal_m": [0.2477551721394888, -0.0022192922698369482, 0.1609342650328445], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 960, "api_command_sequence": 24, "api_accepted_sequence": 24, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004888466446213024, "joint2": 1.4865728985041113, "joint3": 1.3976481483483751, "joint4": -1.2958291321800728, "joint5": 0.003726926148247721, "joint6": -0.0016644360726260096, "gripper": 0.03752399936097009}, "target_simulation_time": 2.0000000000000013, "target_positions": {"joint1": -0.004892990122028636, "joint2": 1.4865465679399026, "joint3": 1.3976506971479183, "joint4": -1.2958798164997885, "joint5": 0.003738722694357512, "joint6": -0.0016684925181516628, "gripper": 0.037475746531769084}, "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": [0.5305482745170593, -1.4968857765197754, 1.4825431108474731, 1.4972161054611206, -2.1029419898986816, 0.694531261920929], "source_tool_goal_m": [0.10476959957404414, -0.23060067797534267, 0.08523564062747957], "target_tool_goal_m": [0.24776881227201034, -0.0025722520743588825, 0.16105016697701816], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1000, "api_command_sequence": 25, "api_accepted_sequence": 25, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004892990122028636, "joint2": 1.4865465679399026, "joint3": 1.3976506971479183, "joint4": -1.2958798164997885, "joint5": 0.003738722694357512, "joint6": -0.0016684925181516628, "gripper": 0.03723084438902992}, "target_simulation_time": 2.0799999999999925, "target_positions": {"joint1": -0.004892944331715421, "joint2": 1.486546651426999, "joint3": 1.3976507156454687, "joint4": -1.2958787781094925, "joint5": 0.0037384961731619748, "joint6": -0.0016683831127799577, "gripper": 0.0374709219268106}, "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": [0.5300807952880859, -1.4970784187316895, 1.4846255779266357, 1.4948785305023193, -2.1047556400299072, 0.699999988079071], "source_tool_goal_m": [0.1047131173090949, -0.2306938764670201, 0.08499235045223939], "target_tool_goal_m": [0.24766286692308853, -0.002556481338266401, 0.16080687680177796], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1040, "api_command_sequence": 26, "api_accepted_sequence": 26, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004892944331715421, "joint2": 1.486546651426999, "joint3": 1.3976507156454687, "joint4": -1.2958787781094925, "joint5": 0.0037384961731619748, "joint6": -0.0016683831127799577, "gripper": 0.03752399936097009}, "target_simulation_time": 2.1599999999999837, "target_positions": {"joint1": -0.004892967060325406, "joint2": 1.4865466510181589, "joint3": 1.3976507153032023, "joint4": -1.295878799356258, "joint5": 0.0037385136075248205, "joint6": -0.0016683861971042702, "gripper": 0.037472466176475774}, "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": [0.5310328602790833, -1.4959194660186768, 1.4849181175231934, 1.4949520826339722, -2.103395938873291, 0.699999988079071], "source_tool_goal_m": [0.1048426080308206, -0.23051942223770072, 0.08473788734815979], "target_tool_goal_m": [0.247870214301981, -0.0026075418396693186, 0.16055241369769838], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1080, "api_command_sequence": 27, "api_accepted_sequence": 27, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006786745175939267, "joint2": 1.4877890698477005, "joint3": 1.395912881759569, "joint4": -1.296225095259189, "joint5": 0.004998877479546709, "joint6": -0.0020027882838009737, "gripper": 0.03752399936097009}, "target_simulation_time": 2.239999999999975, "target_positions": {"joint1": -0.004953311880568556, "joint2": 1.4865807613138904, "joint3": 1.397595961021634, "joint4": -1.295927336071353, "joint5": 0.0038799093482492723, "joint6": -0.0017336224361579348, "gripper": 0.037473910199144915}, "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": [0.5305028557777405, -1.494326114654541, 1.488065481185913, 1.4931292533874512, -2.102848529815674, 0.694531261920929], "source_tool_goal_m": [0.1046253086085799, -0.2303741797980576, 0.08400892330902651], "target_tool_goal_m": [0.24791926657895608, -0.002355371807663112, 0.1598234496585651], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1120, "api_command_sequence": 28, "api_accepted_sequence": 28, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006057035271776126, "joint2": 1.4896546584300847, "joint3": 1.3947285485861278, "joint4": -1.2954824980713309, "joint5": 0.004608567332970999, "joint6": -0.00192721719083877, "gripper": 0.03723084438902992}, "target_simulation_time": 2.319999999999966, "target_positions": {"joint1": -0.004996437192175916, "joint2": 1.4867581393598248, "joint3": 1.3974514267030753, "joint4": -1.295867517577768, "joint5": 0.003982460017497891, "joint6": -0.0017785427763596913, "gripper": 0.037468663421533176}, "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": [0.5301738381385803, -1.494164228439331, 1.4848700761795044, 1.489349126815796, -2.1021575927734375, 0.699999988079071], "source_tool_goal_m": [0.10508441532988899, -0.23129857506758475, 0.08448856618527183], "target_tool_goal_m": [0.24725589477911775, -0.003122879611828902, 0.1603030925348104], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1160, "api_command_sequence": 29, "api_accepted_sequence": 29, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.008098046935642367, "joint2": 1.4875360744276815, "joint3": 1.3946854438722136, "joint4": -1.2976085722271848, "joint5": 0.006047804413923047, "joint6": -0.0023261000933695953, "gripper": 0.03752399936097009}, "target_simulation_time": 2.3999999999999573, "target_positions": {"joint1": -0.0052843435350547075, "joint2": 1.4868169597988743, "joint3": 1.3971970852353903, "joint4": -1.2961081288600016, "joint5": 0.0042173200429703106, "joint6": -0.0018896332816961822, "gripper": 0.03747015299469872}, "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": [0.5298442840576172, -1.4927834272384644, 1.495470404624939, 1.4850564002990723, -2.1046462059020996, 0.699999988079071], "source_tool_goal_m": [0.10454697542246408, -0.23051031638153227, 0.08273571750089588], "target_tool_goal_m": [0.24776609602475974, -0.0023361162273541377, 0.15855024385043448], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1200, "api_command_sequence": 30, "api_accepted_sequence": 30, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005951340679467414, "joint2": 1.4925800077470175, "joint3": 1.3923456368758078, "joint4": -1.2947939405842397, "joint5": 0.004646720666712429, "joint6": -0.002004210076136867, "gripper": 0.03752399936097009}, "target_simulation_time": 2.4799999999999485, "target_positions": {"joint1": -0.005352945214412719, "joint2": 1.4876256095824751, "joint3": 1.396360569106893, "joint4": -1.2959327840421317, "joint5": 0.004307993184757539, "joint6": -0.0019232796057186935, "gripper": 0.03747159027047053}, "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": [0.5286964178085327, -1.4937071800231934, 1.5004706382751465, 1.4802325963974, -2.1061606407165527, 0.699999988079071], "source_tool_goal_m": [0.10434931263712563, -0.2306499572373488, 0.0822270306485816], "target_tool_goal_m": [0.24756439118897275, -0.002210031076635634, 0.15804155699812017], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1240, "api_command_sequence": 31, "api_accepted_sequence": 31, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005593023806125388, "joint2": 1.4935090055160334, "joint3": 1.3911565098203482, "joint4": -1.2948151172573972, "joint5": 0.004450912565969729, "joint6": -0.0019617757920301153, "gripper": 0.03752399936097009}, "target_simulation_time": 2.5599999999999397, "target_positions": {"joint1": -0.005363214318729635, "joint2": 1.4894879930985372, "joint3": 1.3947897076334754, "joint4": -1.295729659887766, "joint5": 0.004330585922447614, "joint6": -0.0019329364760377705, "gripper": 0.03747275159572488}, "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": [0.5302062630653381, -1.4937126636505127, 1.4993044137954712, 1.4773114919662476, -2.1028976440429688, 0.699999988079071], "source_tool_goal_m": [0.10493901244291264, -0.23103385152092612, 0.08243115363996398], "target_tool_goal_m": [0.2474405743025564, -0.0028904617712949545, 0.15824567998950256], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1280, "api_command_sequence": 32, "api_accepted_sequence": 32, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007419935920099253, "joint2": 1.492954984042883, "joint3": 1.3914128677815727, "joint4": -1.2953474349185523, "joint5": 0.005695223398726787, "joint6": -0.002295323214749725, "gripper": 0.03752399936097009}, "target_simulation_time": 2.639999999999931, "target_positions": {"joint1": -0.005429757270966891, "joint2": 1.4912457522262694, "joint3": 1.3934347441330923, "joint4": -1.295670156607866, "joint5": 0.004485844332737725, "joint6": -0.0020044076398262486, "gripper": 0.037473643659401985}, "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": [0.5289031863212585, -1.4933439493179321, 1.504438042640686, 1.4724630117416382, -2.1032745838165283, 0.699999988079071], "source_tool_goal_m": [0.10467871508751812, -0.23113802852721066, 0.0816677243801016], "target_tool_goal_m": [0.24724720644607717, -0.002694123961722666, 0.15748225072964017], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1320, "api_command_sequence": 33, "api_accepted_sequence": 33, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006837819215335961, "joint2": 1.4947507322286486, "joint3": 1.3899813939888765, "joint4": -1.295314480980524, "joint5": 0.005416588124541592, "joint6": -0.0022516481210232663, "gripper": 0.03752399936097009}, "target_simulation_time": 2.719999999999922, "target_positions": {"joint1": -0.005483285189983809, "joint2": 1.4924293487990257, "joint3": 1.392468062329464, "joint4": -1.2956143079743736, "joint5": 0.004612623520395798, "joint6": -0.0020603846221672888, "gripper": 0.037474721937443126}, "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": [0.5306001901626587, -1.4919261932373047, 1.5099449157714844, 1.4661695957183838, -2.1028175354003906, 0.699999988079071], "source_tool_goal_m": [0.10503611686779771, -0.23103356035812703, 0.08067424435882707], "target_tool_goal_m": [0.24747774825243488, -0.0029783675409513406, 0.15648877070836564], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1360, "api_command_sequence": 34, "api_accepted_sequence": 34, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0075577017940646135, "joint2": 1.4976403583256892, "joint3": 1.388653872913811, "joint4": -1.2938817629009993, "joint5": 0.0059869194650427875, "joint6": -0.002425914575704695, "gripper": 0.03752399936097009}, "target_simulation_time": 2.7999999999999132, "target_positions": {"joint1": -0.005555282477461451, "joint2": 1.4939035260633116, "joint3": 1.3916644356824783, "joint4": -1.2953663217532352, "joint5": 0.004781918482620275, "joint6": -0.002136755484434863, "gripper": 0.03747559841199821}, "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": [0.5306885242462158, -1.4907782077789307, 1.5126234292984009, 1.4594708681106567, -2.103672742843628, 0.699999988079071], "source_tool_goal_m": [0.10534095843244222, -0.23151233706891294, 0.08014764743512662], "target_tool_goal_m": [0.24715965245512575, -0.0034366652570751916, 0.1559621737846652], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1400, "api_command_sequence": 35, "api_accepted_sequence": 35, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00873923962990003, "joint2": 1.498699699441397, "joint3": 1.3874866906701662, "joint4": -1.294374396312935, "joint5": 0.006898536692373897, "joint6": -0.0026990107199939017, "gripper": 0.03752399936097009}, "target_simulation_time": 2.8799999999999044, "target_positions": {"joint1": -0.005898588069789748, "joint2": 1.4956221262074727, "joint3": 1.3905618477126178, "joint4": -1.2951727829363353, "joint5": 0.005031610273140948, "joint6": -0.002254504841710497, "gripper": 0.03747673157136785}, "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": [0.5292887687683105, -1.4893754720687866, 1.5195708274841309, 1.4540125131607056, -2.1022233963012695, 0.699999988079071], "source_tool_goal_m": [0.10494441634812081, -0.23143353538538908, 0.07893635949192053], "target_tool_goal_m": [0.24708035082557922, -0.0030472824180721313, 0.15475088584145913], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1440, "api_command_sequence": 36, "api_accepted_sequence": 36, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007680472347249623, "joint2": 1.5017967175411542, "joint3": 1.385462698551372, "joint4": -1.2936360065511125, "joint5": 0.006204633738008433, "joint6": -0.0025666519617992176, "gripper": 0.03752399936097009}, "target_simulation_time": 2.9599999999998956, "target_positions": {"joint1": -0.006024157575042502, "joint2": 1.497701722947825, "joint3": 1.389005602280494, "joint4": -1.2949222600681942, "joint5": 0.005208084647362649, "joint6": -0.0023268655953200034, "gripper": 0.0374773640920927}, "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": [0.5300719738006592, -1.487642526626587, 1.5234206914901733, 1.4466707706451416, -2.103722333908081, 0.699999988079071], "source_tool_goal_m": [0.10532303042993206, -0.2317425034775247, 0.07813756826316469], "target_tool_goal_m": [0.24694421271852307, -0.003507902913338834, 0.15395209461270326], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1480, "api_command_sequence": 37, "api_accepted_sequence": 37, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.008881183802449753, "joint2": 1.503783958823151, "joint3": 1.38404288774084, "joint4": -1.2933449958580572, "joint5": 0.00710236019045671, "joint6": -0.002830460139202742, "gripper": 0.03752399936097009}, "target_simulation_time": 3.039999999999887, "target_positions": {"joint1": -0.0062116495902293815, "joint2": 1.5002600476879249, "joint3": 1.387217866713162, "joint4": -1.294662494679162, "joint5": 0.005435229079464126, "joint6": -0.002431625563007892, "gripper": 0.03747832223813244}, "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": [0.529742419719696, -1.486474633216858, 1.529406189918518, 1.4393833875656128, -2.1029229164123535, 0.699999988079071], "source_tool_goal_m": [0.10533617923298338, -0.2319078603154208, 0.07713004348679028], "target_tool_goal_m": [0.24679932953903275, -0.0035826743552459547, 0.15294456983632887], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1520, "api_command_sequence": 38, "api_accepted_sequence": 38, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0090349139294781, "joint2": 1.50637920107163, "joint3": 1.382335743104897, "joint4": -1.2929647457506697, "joint5": 0.007307416540751484, "joint6": -0.0029294538264257176, "gripper": 0.03752399936097009}, "target_simulation_time": 3.119999999999878, "target_positions": {"joint1": -0.0064722981246955365, "joint2": 1.5030059959145217, "joint3": 1.3853919522780198, "joint4": -1.294386841795254, "joint5": 0.005676122755272729, "joint6": -0.002539353303622975, "gripper": 0.03747914993538751}, "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": [0.5293627381324768, -1.4854240417480469, 1.5381273031234741, 1.430195689201355, -2.1026721000671387, 0.699999988079071], "source_tool_goal_m": [0.10527277950474369, -0.23196165762797571, 0.07576505553812374], "target_tool_goal_m": [0.24672646844757543, -0.00354565690985157, 0.15157958188766232], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1560, "api_command_sequence": 39, "api_accepted_sequence": 39, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.008904565318291324, "joint2": 1.510025397121459, "joint3": 1.3801624750039756, "joint4": -1.2920907096502794, "joint5": 0.007283782085205786, "joint6": -0.0029673385517265728, "gripper": 0.03752399936097009}, "target_simulation_time": 3.199999999999869, "target_positions": {"joint1": -0.006589894441810926, "joint2": 1.5060731653777997, "joint3": 1.383492116922712, "joint4": -1.294020885899182, "joint5": 0.005891249000997822, "joint6": -0.0026330550119304397, "gripper": 0.0374799266984069}, "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": [0.5309190154075623, -1.4829715490341187, 1.5451194047927856, 1.4202079772949219, -2.1043012142181396, 0.699999988079071], "source_tool_goal_m": [0.1057289313233572, -0.23207314104892557, 0.07440362827187656], "target_tool_goal_m": [0.2467988050724772, -0.0040014931663828685, 0.15021815462141513], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1600, "api_command_sequence": 40, "api_accepted_sequence": 40, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.010068286814366802, "joint2": 1.5139466122464333, "joint3": 1.3782567078964092, "joint4": -1.29086028085521, "joint5": 0.008200427445594355, "joint6": -0.003247710601243374, "gripper": 0.03752399936097009}, "target_simulation_time": 3.2799999999998604, "target_positions": {"joint1": -0.007070186456741556, "joint2": 1.5097289131543994, "joint3": 1.3815692211686754, "joint4": -1.293523811331597, "joint5": 0.006160713593869181, "joint6": -0.002762390932132695, "gripper": 0.03748113909348609}, "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": [0.5315453410148621, -1.4807995557785034, 1.5526071786880493, 1.4115653038024902, -2.103616237640381, 0.699999988079071], "source_tool_goal_m": [0.105869952292414, -0.2320504392315857, 0.07300654260500936], "target_tool_goal_m": [0.24687298523870896, -0.004120686901593393, 0.14882106895454794], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1640, "api_command_sequence": 41, "api_accepted_sequence": 41, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.010414161066643845, "joint2": 1.518128995771496, "joint3": 1.3764432401888467, "joint4": -1.2897217414412272, "joint5": 0.008378677113454299, "joint6": -0.0033532776023650884, "gripper": 0.03752399936097009}, "target_simulation_time": 3.3599999999998515, "target_positions": {"joint1": -0.00776324514870865, "joint2": 1.5139407182607465, "joint3": 1.379673589066737, "joint4": -1.2929159453042427, "joint5": 0.006447526670224221, "joint6": -0.002890555625742974, "gripper": 0.03748166831221623}, "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": [0.5321555733680725, -1.4783638715744019, 1.558459758758545, 1.4015448093414307, -2.1031947135925293, 0.699999988079071], "source_tool_goal_m": [0.1062308937622473, -0.23240686389485446, 0.07181528326242781], "target_tool_goal_m": [0.24668711453363332, -0.004583327318781617, 0.1476298096119664], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1680, "api_command_sequence": 42, "api_accepted_sequence": 42, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.01175538761030048, "joint2": 1.521638256823565, "joint3": 1.3747914672586232, "joint4": -1.2895883615018566, "joint5": 0.009102289210411677, "joint6": -0.003597184225627605, "gripper": 0.03752399936097009}, "target_simulation_time": 3.4399999999998427, "target_positions": {"joint1": -0.008716281886341323, "joint2": 1.518227653111636, "joint3": 1.377744502425448, "joint4": -1.2923561846506768, "joint5": 0.00676973230201262, "joint6": -0.00304113669312643, "gripper": 0.037482663238868605}, "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": [0.5320420265197754, -1.4771934747695923, 1.568051815032959, 1.3917902708053589, -2.1059181690216064, 0.699999988079071], "source_tool_goal_m": [0.10616283472271641, -0.2323284878383822, 0.07030678681661033], "target_tool_goal_m": [0.2467322856987493, -0.004491846650473759, 0.1461213131661489], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1720, "api_command_sequence": 43, "api_accepted_sequence": 43, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011663515632932435, "joint2": 1.526294534461357, "joint3": 1.3729516456930404, "joint4": -1.2885633279459492, "joint5": 0.008720650909444093, "joint6": -0.003561365607505002, "gripper": 0.03752399936097009}, "target_simulation_time": 3.519999999999834, "target_positions": {"joint1": -0.009408694370343775, "joint2": 1.5225058241610152, "joint3": 1.375915045411287, "joint4": -1.291748682643629, "joint5": 0.00704944415740266, "joint6": -0.003156769912632583, "gripper": 0.03748279064356828}, "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": [0.5333583354949951, -1.4751394987106323, 1.5768014192581177, 1.380979061126709, -2.103731393814087, 0.699999988079071], "source_tool_goal_m": [0.10648110832767263, -0.23231935649280921, 0.06877238768005965], "target_tool_goal_m": [0.2468615403551164, -0.0047768622118411815, 0.14458691402959822], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1760, "api_command_sequence": 44, "api_accepted_sequence": 44, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012523327534781727, "joint2": 1.531160255854104, "joint3": 1.3712129928552443, "joint4": -1.287269042337485, "joint5": 0.009111208137555737, "joint6": -0.0037069357130526948, "gripper": 0.03752399936097009}, "target_simulation_time": 3.599999999999825, "target_positions": {"joint1": -0.009852026590047835, "joint2": 1.5270600514464645, "joint3": 1.3742496387290546, "joint4": -1.2910329872379864, "joint5": 0.007312221517904553, "joint6": -0.0032748248169461617, "gripper": 0.03748382022061682}, "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": [0.5305978059768677, -1.4715633392333984, 1.5846463441848755, 1.372529149055481, -2.1051080226898193, 0.699999988079071], "source_tool_goal_m": [0.10588113208846006, -0.23246554117678198, 0.06706202927997551], "target_tool_goal_m": [0.24650098211034557, -0.004288603389728616, 0.1428765556295141], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1800, "api_command_sequence": 45, "api_accepted_sequence": 45, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011231279447870082, "joint2": 1.535949061551752, "joint3": 1.3686047665916912, "joint4": -1.2871612189380321, "joint5": 0.008201064723643993, "joint6": -0.0035134826324085705, "gripper": 0.03752399936097009}, "target_simulation_time": 3.6799999999998163, "target_positions": {"joint1": -0.009950129770153339, "joint2": 1.5317518453668892, "joint3": 1.3721672602875248, "joint4": -1.2903622269454644, "joint5": 0.00745558978193291, "joint6": -0.0033325150531600075, "gripper": 0.03748455915360837}, "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": [0.5317350029945374, -1.4693143367767334, 1.591278314590454, 1.3627618551254272, -2.104450225830078, 0.699999988079071], "source_tool_goal_m": [0.10623847198785183, -0.23259320854830856, 0.06578869883019571], "target_tool_goal_m": [0.24652109037025347, -0.004661027140502665, 0.14160322517973428], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1840, "api_command_sequence": 46, "api_accepted_sequence": 46, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012198084579304365, "joint2": 1.5400935327365108, "joint3": 1.3672140331760274, "joint4": -1.2864037508099133, "joint5": 0.008932249048646238, "joint6": -0.0037272412345150992, "gripper": 0.03752399936097009}, "target_simulation_time": 3.7599999999998075, "target_positions": {"joint1": -0.01002731641795507, "joint2": 1.5365051342056537, "joint3": 1.370049734482933, "joint4": -1.289723293151751, "joint5": 0.007635206200441553, "joint6": -0.003414330596210905, "gripper": 0.03748533133304089}, "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": [0.5338704586029053, -1.4684677124023438, 1.6006430387496948, 1.354661226272583, -2.1065661907196045, 0.699999988079071], "source_tool_goal_m": [0.10646108697468369, -0.2320574766838903, 0.06435881378182508], "target_tool_goal_m": [0.24709130063957307, -0.004659172398004414, 0.14017334013136368], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1880, "api_command_sequence": 47, "api_accepted_sequence": 47, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012111904648171766, "joint2": 1.5453603268929077, "joint3": 1.3663630833538432, "joint4": -1.2840827003838784, "joint5": 0.009005365252666054, "joint6": -0.0037819412846755445, "gripper": 0.03752399936097009}, "target_simulation_time": 3.8399999999997987, "target_positions": {"joint1": -0.01010319678332986, "joint2": 1.5415051374608473, "joint3": 1.3687426458960243, "joint4": -1.2888654870184075, "joint5": 0.007812977196055445, "joint6": -0.0034943328646122565, "gripper": 0.03748614021415249}, "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": [0.531535267829895, -1.4654803276062012, 1.6110881567001343, 1.340118646621704, -2.1038806438446045, 0.699999988079071], "source_tool_goal_m": [0.10618248393006886, -0.23258513517760068, 0.06244923624757663], "target_tool_goal_m": [0.24650712672324665, -0.004607210251213057, 0.1382637625971152], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1920, "api_command_sequence": 48, "api_accepted_sequence": 48, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011927287155008072, "joint2": 1.5506845607483926, "joint3": 1.3633532789226732, "joint4": -1.2844336307282473, "joint5": 0.008998664464868392, "joint6": -0.00381232911200863, "gripper": 0.03752399936097009}, "target_simulation_time": 3.91999999999979, "target_positions": {"joint1": -0.010170061057334609, "joint2": 1.5464490300812532, "joint3": 1.3670261963091528, "joint4": -1.2880734199325343, "joint5": 0.007968312781619583, "joint6": -0.0035640458559107755, "gripper": 0.037486865221300535}, "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": [0.5312044024467468, -1.4630807638168335, 1.6205852031707764, 1.328833818435669, -2.103504180908203, 0.699999988079071], "source_tool_goal_m": [0.10611431770085641, -0.2326112734728368, 0.0607514282748107], "target_tool_goal_m": [0.24645752426892223, -0.004555359024434467, 0.13656595462434928], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 1960, "api_command_sequence": 49, "api_accepted_sequence": 49, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011734363529686449, "joint2": 1.5560347605782754, "joint3": 1.3613450833898957, "joint4": -1.2834833492638473, "joint5": 0.008975981230281701, "joint6": -0.0038349927431164865, "gripper": 0.03752399936097009}, "target_simulation_time": 3.999999999999781, "target_positions": {"joint1": -0.010227564120751709, "joint2": 1.5515796068197412, "joint3": 1.364759040541397, "joint4": -1.2873179768681118, "joint5": 0.008100688379813224, "joint6": -0.0036234968169024675, "gripper": 0.037487568059608234}, "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": [0.5329146981239319, -1.4606926441192627, 1.629694938659668, 1.3181886672973633, -2.104065418243408, 0.699999988079071], "source_tool_goal_m": [0.10640319464601437, -0.23237386263123508, 0.059106315743418625], "target_tool_goal_m": [0.24678251992654193, -0.004726958600240334, 0.1349208420929572], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2000, "api_command_sequence": 50, "api_accepted_sequence": 50, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012141762781001538, "joint2": 1.5616405507227953, "joint3": 1.3598901189724946, "joint4": -1.2814921922255829, "joint5": 0.009345838785418862, "joint6": -0.003958372055461557, "gripper": 0.03752399936097009}, "target_simulation_time": 4.079999999999773, "target_positions": {"joint1": -0.01029509242327433, "joint2": 1.557234336664188, "joint3": 1.3628108601165754, "joint4": -1.2863998327518613, "joint5": 0.008256759620303387, "joint6": -0.0036944213558222105, "gripper": 0.03748821805834815}, "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": [0.5304470658302307, -1.4579085111618042, 1.6382023096084595, 1.3076000213623047, -2.1029300689697266, 0.699999988079071], "source_tool_goal_m": [0.10593576913667209, -0.23263149787086884, 0.05747662063066314], "target_tool_goal_m": [0.24637132517266022, -0.004401208210145999, 0.13329114698020172], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2040, "api_command_sequence": 51, "api_accepted_sequence": 51, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.01121681184774243, "joint2": 1.5665527080509167, "joint3": 1.3576231611531615, "joint4": -1.281607074310536, "joint5": 0.008832830027798895, "joint6": -0.003851082791616498, "gripper": 0.03752399936097009}, "target_simulation_time": 4.159999999999764, "target_positions": {"joint1": -0.010332562788186067, "joint2": 1.562815357447315, "joint3": 1.360772299556722, "joint4": -1.2855741987866085, "joint5": 0.008341591767997748, "joint6": -0.003732024047147888, "gripper": 0.03748895733957058}, "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": [0.5317568182945251, -1.4559876918792725, 1.6472103595733643, 1.2968828678131104, -2.1025545597076416, 0.699999988079071], "source_tool_goal_m": [0.10616102355239244, -0.2324598424908349, 0.055937076664113225], "target_tool_goal_m": [0.24661253606219777, -0.004540133763151228, 0.1317516030136518], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2080, "api_command_sequence": 52, "api_accepted_sequence": 52, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011554311827862743, "joint2": 1.57202147594083, "joint3": 1.3564457115428243, "joint4": -1.2801029761699851, "joint5": 0.009123256597690218, "joint6": -0.00394374151459284, "gripper": 0.03752399936097009}, "target_simulation_time": 4.239999999999755, "target_positions": {"joint1": -0.010375320661792952, "joint2": 1.5682719468261013, "joint3": 1.3590106614188944, "joint4": -1.2847093064389228, "joint5": 0.008438370292801875, "joint6": -0.0037764861756698813, "gripper": 0.037489556275049934}, "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": [0.5309427380561829, -1.4539015293121338, 1.6565675735473633, 1.2862377166748047, -2.104583263397217, 0.699999988079071], "source_tool_goal_m": [0.10593877159324713, -0.2324192315536703, 0.05431750822523107], "target_tool_goal_m": [0.24656486678441164, -0.0043232458302453845, 0.13013203457476966], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2120, "api_command_sequence": 53, "api_accepted_sequence": 53, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.010934671391571091, "joint2": 1.5773867982459453, "joint3": 1.3547571514050132, "joint4": -1.2792553910804307, "joint5": 0.008773474520419914, "joint6": -0.003869729555889119, "gripper": 0.03752399936097009}, "target_simulation_time": 4.319999999999746, "target_positions": {"joint1": -0.010398330191125505, "joint2": 1.573621374813654, "joint3": 1.3575457294982314, "joint4": -1.2838086130888668, "joint5": 0.008488623180475935, "joint6": -0.003799129972194281, "gripper": 0.03749023851594113}, "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": [0.5306839346885681, -1.4509613513946533, 1.6646788120269775, 1.2756884098052979, -2.102776050567627, 0.699999988079071], "source_tool_goal_m": [0.10588579673597098, -0.2324461922596418, 0.05272148447136814], "target_tool_goal_m": [0.24652029322998245, -0.004285476821942847, 0.1285360108209067], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2160, "api_command_sequence": 54, "api_accepted_sequence": 54, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.010816720523634077, "joint2": 1.582756287643362, "joint3": 1.3531693894170196, "joint4": -1.2784392045170114, "joint5": 0.00872757451612603, "joint6": -0.003866825274081412, "gripper": 0.03752399936097009}, "target_simulation_time": 4.3999999999997375, "target_positions": {"joint1": -0.010414008088387066, "joint2": 1.578848292791227, "joint3": 1.3560763142353025, "joint4": -1.2829178869132627, "joint5": 0.008520734171219204, "joint6": -0.003814221188878034, "gripper": 0.03749084333840143}, "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": [0.5307585597038269, -1.4491139650344849, 1.6786794662475586, 1.2652591466903687, -2.102419853210449, 0.699999988079071], "source_tool_goal_m": [0.1053892088341087, -0.23156983370146045, 0.050487922785301814], "target_tool_goal_m": [0.24712587721828713, -0.003502254765959715, 0.1263024491348404], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2200, "api_command_sequence": 55, "api_accepted_sequence": 55, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.008673665829711623, "joint2": 1.5905036956445733, "joint3": 1.3514958537069384, "joint4": -1.275150057542673, "joint5": 0.007296845297018314, "joint6": -0.0034955505355490483, "gripper": 0.03752399936097009}, "target_simulation_time": 4.479999999999729, "target_positions": {"joint1": -0.010360556524701, "joint2": 1.5847559112024092, "joint3": 1.3546358152118019, "joint4": -1.280092485983215, "joint5": 0.008387585509564408, "joint6": -0.0037533830228382316, "gripper": 0.03749157333031437}, "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": [0.5309261083602905, -1.4467726945877075, 1.6849921941757202, 1.253728985786438, -2.1041994094848633, 0.699999988079071], "source_tool_goal_m": [0.10565419218560607, -0.23194314718754083, 0.04927189690876488], "target_tool_goal_m": [0.24688822399349805, -0.0038843373182819944, 0.12508642325830346], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2240, "api_command_sequence": 56, "api_accepted_sequence": 56, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00976120945187311, "joint2": 1.594227624507282, "joint3": 1.3498666424556147, "joint4": -1.2747415509981745, "joint5": 0.007938884122537147, "joint6": -0.003638545242248847, "gripper": 0.03752399936097009}, "target_simulation_time": 4.55999999999972, "target_positions": {"joint1": -0.010333969615348094, "joint2": 1.5908774881506025, "joint3": 1.3531025371736798, "joint4": -1.2786924808812143, "joint5": 0.00831692321315279, "joint6": -0.003724189223492189, "gripper": 0.03749199948599618}, "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": [0.531102180480957, -1.4444160461425781, 1.6926617622375488, 1.2430118322372437, -2.1040525436401367, 0.699999988079071], "source_tool_goal_m": [0.10572975923947704, -0.23199779897057907, 0.047854945456531725], "target_tool_goal_m": [0.24686741059827458, -0.00397360557354919, 0.1236694718060703], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2280, "api_command_sequence": 57, "api_accepted_sequence": 57, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.010027361593003497, "joint2": 1.5992864793631878, "joint3": 1.34872606821056, "joint4": -1.274069090274288, "joint5": 0.008069779517457304, "joint6": -0.0036622498461063593, "gripper": 0.03752399936097009}, "target_simulation_time": 4.639999999999711, "target_positions": {"joint1": -0.010321671267594862, "joint2": 1.5961498282046496, "joint3": 1.3512790155625085, "joint4": -1.2779251728184724, "joint5": 0.008281898125497336, "joint6": -0.0037098553629219106, "gripper": 0.037492606480370956}, "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": [0.5321555733680725, -1.4427738189697266, 1.7036610841751099, 1.232366681098938, -2.1037533283233643, 0.699999988079071], "source_tool_goal_m": [0.10567778039293421, -0.23146515335236523, 0.046099355353012975], "target_tool_goal_m": [0.24733044852237507, -0.0037240292783773804, 0.12191388170255157], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2320, "api_command_sequence": 58, "api_accepted_sequence": 58, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.009352727463586808, "joint2": 1.6055923144102036, "joint3": 1.3476282780540094, "joint4": -1.2715767245601748, "joint5": 0.007589270806097637, "joint6": -0.003530911354564408, "gripper": 0.03752399936097009}, "target_simulation_time": 4.719999999999702, "target_positions": {"joint1": -0.010289612645675666, "joint2": 1.6014260778759817, "joint3": 1.350076622547926, "joint4": -1.276642505689442, "joint5": 0.008200192814773192, "joint6": -0.003673648439373808, "gripper": 0.03749325450727695}, "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": [0.5324562191963196, -1.4396166801452637, 1.7129743099212646, 1.2217780351638794, -2.103234052658081, 0.699999988079071], "source_tool_goal_m": [0.1055687673142265, -0.23115539931820173, 0.04430820691220312], "target_tool_goal_m": [0.2475697761474963, -0.003507479144326103, 0.12012273326174172], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2360, "api_command_sequence": 59, "api_accepted_sequence": 59, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.008792747017582904, "joint2": 1.6117720984652926, "joint3": 1.3461872554003662, "joint4": -1.2695863005937853, "joint5": 0.0071496732975904675, "joint6": -0.0034002081899604025, "gripper": 0.03752399936097009}, "target_simulation_time": 4.799999999999693, "target_positions": {"joint1": -0.010237921970110305, "joint2": 1.6071123473185773, "joint3": 1.3491133414534853, "joint4": -1.2742528169196758, "joint5": 0.008071106250474384, "joint6": -0.0036164873089715157, "gripper": 0.037493829684951345}, "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": [0.5318260788917542, -1.4377176761627197, 1.7183035612106323, 1.211060881614685, -2.1028943061828613, 0.699999988079071], "source_tool_goal_m": [0.10570611289548733, -0.23165586590212273, 0.04331302853409445], "target_tool_goal_m": [0.24716835409170526, -0.00382220125511518, 0.11912755488363302], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2400, "api_command_sequence": 60, "api_accepted_sequence": 60, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.009700026736099713, "joint2": 1.6149992093997159, "joint3": 1.3448869758800812, "joint4": -1.2700290744414748, "joint5": 0.0076716534827132215, "joint6": -0.0035137288749165366, "gripper": 0.03752399936097009}, "target_simulation_time": 4.879999999999685, "target_positions": {"joint1": -0.010214342397631908, "joint2": 1.6122951500809548, "joint3": 1.34780226581755, "joint4": -1.273383036137106, "joint5": 0.008008941003550771, "joint6": -0.0035907675577525515, "gripper": 0.03749429968511054}, "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": [0.5303847789764404, -1.4362428188323975, 1.729803442955017, 1.2004157304763794, -2.1037566661834717, 0.697265625], "source_tool_goal_m": [0.1051215782346243, -0.2312662416071013, 0.041529189713184506], "target_tool_goal_m": [0.24729932802491927, -0.0031442742851601597, 0.11734371606272309], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2440, "api_command_sequence": 61, "api_accepted_sequence": 61, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007889721156620805, "joint2": 1.621132740144588, "joint3": 1.343383517459948, "joint4": -1.268357767318841, "joint5": 0.006407039387406232, "joint6": -0.003169461040305742, "gripper": 0.037377421875000004}, "target_simulation_time": 4.959999999999676, "target_positions": {"joint1": -0.01013827767368287, "joint2": 1.6170299771146122, "joint3": 1.3462662336750613, "joint4": -1.2725846141617596, "joint5": 0.007822922133323059, "joint6": -0.00350651633099573, "gripper": 0.03749170084304598}, "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": [0.5328471660614014, -1.4342591762542725, 1.7394843101501465, 1.1898664236068726, -2.1048662662506104, 0.699999988079071], "source_tool_goal_m": [0.10539603532060203, -0.23069141307495558, 0.03991166056807449], "target_tool_goal_m": [0.24792468143947413, -0.0031745488477447057, 0.11572618691761308], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2480, "api_command_sequence": 62, "api_accepted_sequence": 62, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.008021463713424997, "joint2": 1.6271438619059637, "joint3": 1.3427378008470447, "joint4": -1.2654385838524338, "joint5": 0.006360635003926399, "joint6": -0.003123603649624668, "gripper": 0.03752399936097009}, "target_simulation_time": 5.039999999999667, "target_positions": {"joint1": -0.010061060474762448, "joint2": 1.6224301219679136, "joint3": 1.3452697887828107, "joint4": -1.2704835705121433, "joint5": 0.007632712301924277, "joint6": -0.003422801683837848, "gripper": 0.037492403683203175}, "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": [0.5331323742866516, -1.431145429611206, 1.7489298582077026, 1.1794371604919434, -2.101752758026123, 0.699999988079071], "source_tool_goal_m": [0.10522324532310484, -0.23029134076379632, 0.03812539493432507], "target_tool_goal_m": [0.24822163244291445, -0.0028658600860138154, 0.11393992128386365], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2520, "api_command_sequence": 63, "api_accepted_sequence": 63, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007251639524216413, "joint2": 1.6332260305260555, "joint3": 1.341324236206693, "joint4": -1.2630299601120658, "joint5": 0.005705272622025638, "joint6": -0.0029165536294916417, "gripper": 0.03752399936097009}, "target_simulation_time": 5.119999999999658, "target_positions": {"joint1": -0.009895430530800504, "joint2": 1.6284377194876236, "joint3": 1.3444208957725414, "joint4": -1.267454756754238, "joint5": 0.007396192370307401, "joint6": -0.003315937036783041, "gripper": 0.03749318000630395}, "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": [0.5315588116645813, -1.4310442209243774, 1.753082275390625, 1.1711193323135376, -2.1032350063323975, 0.6849609017372131], "source_tool_goal_m": [0.10516808582587975, -0.2308524858059162, 0.03760724385335032], "target_tool_goal_m": [0.24769203835371964, -0.0030291579123926443, 0.1134217702028889], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2560, "api_command_sequence": 64, "api_accepted_sequence": 64, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007767227169852425, "joint2": 1.6350074841648166, "joint3": 1.3405056214387172, "joint4": -1.264308238767511, "joint5": 0.005941128340041742, "joint6": -0.0029320474173622903, "gripper": 0.036717818395410266}, "target_simulation_time": 5.199999999999649, "target_positions": {"joint1": -0.009801668806545847, "joint2": 1.6333921511749487, "joint3": 1.3430894809426044, "joint4": -1.2667095918228433, "joint5": 0.007197969509578958, "joint6": -0.003230677056758472, "gripper": 0.03747668273291489}, "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": [0.5321851372718811, -1.4284744262695312, 1.7613164186477661, 1.1620570421218872, -2.103590488433838, 0.699999988079071], "source_tool_goal_m": [0.10508005691591897, -0.23043822847164136, 0.03608046502895697], "target_tool_goal_m": [0.248034065059425, -0.0027919056446663276, 0.11189499137849557], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2600, "api_command_sequence": 65, "api_accepted_sequence": 65, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007184759179203611, "joint2": 1.6406514648672181, "joint3": 1.3397554733829917, "joint4": -1.2623269743837466, "joint5": 0.0054162623595771595, "joint6": -0.002760811402305022, "gripper": 0.03752399936097009}, "target_simulation_time": 5.2799999999996405, "target_positions": {"joint1": -0.00970952006575545, "joint2": 1.6373728123344946, "joint3": 1.341942475171325, "joint4": -1.2660476284390598, "joint5": 0.006974583016486438, "joint6": -0.0031310654049799317, "gripper": 0.03747759148950034}, "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": [0.529896080493927, -1.4270052909851074, 1.7691634893417358, 1.152942419052124, -2.1039581298828125, 0.699999988079071], "source_tool_goal_m": [0.10453289822981573, -0.23046704978039015, 0.034812278642682895], "target_tool_goal_m": [0.2477999624795359, -0.0023069105936437077, 0.1106268049922215], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2640, "api_command_sequence": 66, "api_accepted_sequence": 66, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005963315795488506, "joint2": 1.6447462901364442, "joint3": 1.3382618112810363, "joint4": -1.2618588744697459, "joint5": 0.004435521575821057, "joint6": -0.0024600164505959145, "gripper": 0.03752399936097009}, "target_simulation_time": 5.359999999999632, "target_positions": {"joint1": -0.009147194366799756, "joint2": 1.641267725347905, "joint3": 1.3410623115489468, "joint4": -1.2653494206097884, "joint5": 0.006681147804298024, "joint6": -0.002989489109731138, "gripper": 0.03747940876036588}, "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": [0.5317118763923645, -1.4244349002838135, 1.7747490406036377, 1.1453766822814941, -2.1027872562408447, 0.699999988079071], "source_tool_goal_m": [0.10479467954694449, -0.230155045593272, 0.03364466597332462], "target_tool_goal_m": [0.24818227107924665, -0.0024255969893018717, 0.10945919232286322], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2680, "api_command_sequence": 67, "api_accepted_sequence": 67, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006235138318121539, "joint2": 1.6492322165431055, "joint3": 1.337942788561488, "joint4": -1.2600456607909982, "joint5": 0.00470195863075434, "joint6": -0.002467532443601151, "gripper": 0.03752399936097009}, "target_simulation_time": 5.439999999999623, "target_positions": {"joint1": -0.00855788593229762, "joint2": 1.645366137756408, "joint3": 1.340455190662749, "joint4": -1.2645203478966833, "joint5": 0.006406811002991919, "joint6": -0.0028739698535863232, "gripper": 0.0374813633038843}, "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": [0.5306613445281982, -1.4239124059677124, 1.7808033227920532, 1.1348896026611328, -2.1037003993988037, 0.699999988079071], "source_tool_goal_m": [0.10478869106348893, -0.23058237622995847, 0.032814884503963984], "target_tool_goal_m": [0.24779265796292504, -0.0025826001804027873, 0.10862941085350258], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2720, "api_command_sequence": 68, "api_accepted_sequence": 68, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006608912507313967, "joint2": 1.6521693635816905, "joint3": 1.3370174294868151, "joint4": -1.2606932060104779, "joint5": 0.0050755956358593465, "joint6": -0.002523016050451564, "gripper": 0.03752399936097009}, "target_simulation_time": 5.519999999999614, "target_positions": {"joint1": -0.008441655706689208, "joint2": 1.649200122930651, "joint3": 1.3397170826604163, "joint4": -1.2638431479915029, "joint5": 0.006215487867304141, "joint6": -0.0027951329969872468, "gripper": 0.037482347206826055}, "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": [0.5296695828437805, -1.4205328226089478, 1.7854468822479248, 1.1314810514450073, -2.1034677028656006, 0.699999988079071], "source_tool_goal_m": [0.10426187555107767, -0.2301014457041916, 0.03159349973863959], "target_tool_goal_m": [0.24802833222805962, -0.0019222843313310078, 0.10740802608817818], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2760, "api_command_sequence": 69, "api_accepted_sequence": 69, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004878108176715958, "joint2": 1.6566796923681826, "joint3": 1.3364241857374555, "joint4": -1.2591928394950496, "joint5": 0.003803175614283861, "joint6": -0.002157665149666651, "gripper": 0.03752399936097009}, "target_simulation_time": 5.599999999999605, "target_positions": {"joint1": -0.00797360850963039, "joint2": 1.6529330870967962, "joint3": 1.3390285911352877, "joint4": -1.2631090121421547, "joint5": 0.005940559441551688, "joint6": -0.002662841635399987, "gripper": 0.03748270059896722}, "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": [0.5288848876953125, -1.4189586639404297, 1.7921476364135742, 1.1232987642288208, -2.1058855056762695, 0.699999988079071], "source_tool_goal_m": [0.10401186138183334, -0.22999396535829425, 0.030465143806288078], "target_tool_goal_m": [0.24803072146489646, -0.0016548149411606827, 0.10627967015582668], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2800, "api_command_sequence": 70, "api_accepted_sequence": 70, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004140310353455896, "joint2": 1.6606834335881084, "joint3": 1.335577662111275, "joint4": -1.2583256641118368, "joint5": 0.0033479384783908508, "joint6": -0.001977471538755613, "gripper": 0.03752399936097009}, "target_simulation_time": 5.6799999999995965, "target_positions": {"joint1": -0.007071771448999842, "joint2": 1.656878998615966, "joint3": 1.3383990198053757, "joint4": -1.2623235703372333, "joint5": 0.005619235978453049, "joint6": -0.0025153321908442635, "gripper": 0.03748352374627399}, "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": [0.531821608543396, -1.4179553985595703, 1.8008613586425781, 1.1122727394104004, -2.1043612957000732, 0.699999988079071], "source_tool_goal_m": [0.10448737204817518, -0.22958042005007012, 0.029195920862409352], "target_tool_goal_m": [0.2485863079193457, -0.0019286313473942853, 0.10501044721194794], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2840, "api_command_sequence": 71, "api_accepted_sequence": 71, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004731473419905687, "joint2": 1.6656824389322857, "joint3": 1.3354980620493333, "joint4": -1.2559659904802543, "joint5": 0.004026800961551202, "joint6": -0.0020960113878238044, "gripper": 0.03752399936097009}, "target_simulation_time": 5.759999999999588, "target_positions": {"joint1": -0.006641716227158269, "joint2": 1.6613234330737967, "joint3": 1.3380271305262588, "joint4": -1.2609629912608478, "joint5": 0.005374018317268732, "joint6": -0.002420159768765347, "gripper": 0.037485056851335595}, "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": [0.5329627394676208, -1.4190411567687988, 1.80170738697052, 1.1080708503723145, -2.104417562484741, 0.699999988079071], "source_tool_goal_m": [0.10498543423421097, -0.22994859579071436, 0.029318271517419225], "target_tool_goal_m": [0.2484419064128008, -0.002520026044912233, 0.10513279786695781], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2880, "api_command_sequence": 72, "api_accepted_sequence": 72, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006304068264704972, "joint2": 1.6662832767337947, "joint3": 1.3363648202600085, "joint4": -1.2574115022295649, "joint5": 0.005133928387810465, "joint6": -0.0023582091015037446, "gripper": 0.03752399936097009}, "target_simulation_time": 5.839999999999579, "target_positions": {"joint1": -0.006619776082801423, "joint2": 1.6650005439397308, "joint3": 1.337896402031389, "joint4": -1.2602618982872549, "joint5": 0.005319413600302604, "joint6": -0.002399617274938738, "gripper": 0.03748535633092029}, "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": [0.5331462621688843, -1.4172654151916504, 1.8065502643585205, 1.101359486579895, -2.103044271469116, 0.699999988079071], "source_tool_goal_m": [0.10496840113271726, -0.22984850124168651, 0.028399930028587525], "target_tool_goal_m": [0.2485261587394112, -0.0024665404647441634, 0.1042144563781261], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2920, "api_command_sequence": 73, "api_accepted_sequence": 73, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0061780964192804785, "joint2": 1.6699621824586484, "joint3": 1.3361267052821548, "joint4": -1.2568090731573602, "joint5": 0.005009754759737926, "joint6": -0.0023191461068002833, "gripper": 0.03752399936097009}, "target_simulation_time": 5.91999999999957, "target_positions": {"joint1": -0.006604350443704436, "joint2": 1.6674536746520987, "joint3": 1.3378123464996046, "joint4": -1.25969255363299, "joint5": 0.005281005876954946, "joint6": -0.0023828385566020184, "gripper": 0.03748605194486507}, "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": [0.5328925251960754, -1.4160130023956299, 1.8123234510421753, 1.095312237739563, -2.103656053543091, 0.699999988079071], "source_tool_goal_m": [0.10474729267380384, -0.22957724031918333, 0.02744409502465006], "target_tool_goal_m": [0.24868798761630045, -0.0021630174205413927, 0.10325862137418865], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 2960, "api_command_sequence": 74, "api_accepted_sequence": 74, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005372247934579288, "joint2": 1.6734183902410182, "joint3": 1.335621739519596, "joint4": -1.2556020682255336, "joint5": 0.004440616823001626, "joint6": -0.002161826336418294, "gripper": 0.03752399936097009}, "target_simulation_time": 5.999999999999561, "target_positions": {"joint1": -0.006563396987482468, "joint2": 1.6698517079336705, "joint3": 1.3377382956139001, "joint4": -1.2590362464060567, "joint5": 0.005181737944753925, "joint6": -0.0023380170177820687, "gripper": 0.037486786188208075}, "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": [0.5335719585418701, -1.415144681930542, 1.8153785467147827, 1.092031478881836, -2.1035594940185547, 0.699999988079071], "source_tool_goal_m": [0.10477549254451037, -0.22934212631302744, 0.026902867698194527], "target_tool_goal_m": [0.24891181631118875, -0.0020992096758385894, 0.10271739404773311], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3000, "api_command_sequence": 75, "api_accepted_sequence": 75, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0052322072815411715, "joint2": 1.6757461945484904, "joint3": 1.3357690849205022, "joint4": -1.2548197186393186, "joint5": 0.004276668978831845, "joint6": -0.0020998535358537638, "gripper": 0.03752399936097009}, "target_simulation_time": 6.079999999999552, "target_positions": {"joint1": -0.006515818281280394, "joint2": 1.6724602496543435, "joint3": 1.3376673394894882, "joint4": -1.258348414048204, "joint5": 0.0050664485853900145, "joint6": -0.0022868659036158895, "gripper": 0.0374874431326526}, "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": [0.5323501229286194, -1.4139206409454346, 1.8190677165985107, 1.0875974893569946, -2.1032555103302, 0.699999988079071], "source_tool_goal_m": [0.10446011730506202, -0.2293179208080996, 0.02622315630055], "target_tool_goal_m": [0.2488138802046113, -0.0018041496642471622, 0.10203768265008858], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3040, "api_command_sequence": 76, "api_accepted_sequence": 76, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004481063210429276, "joint2": 1.6782314496775617, "joint3": 1.3352629213358926, "joint4": -1.25465683113359, "joint5": 0.0036920905915662034, "joint6": -0.0019238937999164494, "gripper": 0.03752399936097009}, "target_simulation_time": 6.159999999999544, "target_positions": {"joint1": -0.00644554445701325, "joint2": 1.6750704649445927, "joint3": 1.337577143914499, "joint4": -1.2577318541579674, "joint5": 0.004897566341730176, "joint6": -0.0022110837074588658, "gripper": 0.03748814898638129}, "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": [0.5345653891563416, -1.4134635925292969, 1.8193507194519043, 1.0844041109085083, -2.104153633117676, 0.699999988079071], "source_tool_goal_m": [0.1050633006850221, -0.2294127970501083, 0.02613343016317439], "target_tool_goal_m": [0.24895715741930416, -0.002386944330775262, 0.10194795651271299], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3080, "api_command_sequence": 77, "api_accepted_sequence": 77, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006108482869282747, "joint2": 1.6793386281738345, "joint3": 1.336002161429469, "joint4": -1.254819282845349, "joint5": 0.004661075646210951, "joint6": -0.0021496526552274337, "gripper": 0.03752399936097009}, "target_simulation_time": 6.239999999999535, "target_positions": {"joint1": -0.006425896773242897, "joint2": 1.6771905782359384, "joint3": 1.3375009486428535, "joint4": -1.2572355985682466, "joint5": 0.004848440105980392, "joint6": -0.0021914910652174667, "gripper": 0.037488680447885614}, "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": [0.532111406326294, -1.4127460718154907, 1.8252700567245483, 1.0807499885559082, -2.1012678146362305, 0.699999988079071], "source_tool_goal_m": [0.10425632542863424, -0.229079307818124, 0.02523693634883406], "target_tool_goal_m": [0.24895269881001472, -0.0015287322433134706, 0.10105146269837265], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3120, "api_command_sequence": 78, "api_accepted_sequence": 78, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0038152155515311045, "joint2": 1.682384009221605, "joint3": 1.3352417129612117, "joint4": -1.2540056106372575, "joint5": 0.0030935375336874843, "joint6": -0.0017272514219188533, "gripper": 0.03752399936097009}, "target_simulation_time": 6.319999999999526, "target_positions": {"joint1": -0.0063418146404103926, "joint2": 1.679084715841229, "joint3": 1.337423823879787, "joint4": -1.256713359873473, "joint5": 0.004648087987551879, "joint6": -0.0020997978879387447, "gripper": 0.0374895394129942}, "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": [0.5314178466796875, -1.4128526449203491, 1.825792670249939, 1.0788620710372925, -2.1044461727142334, 0.699999988079071], "source_tool_goal_m": [0.10422539838833017, -0.2293032288771953, 0.025203088417109193], "target_tool_goal_m": [0.24873797890141205, -0.0015858135400976313, 0.10101761476664778], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3160, "api_command_sequence": 79, "api_accepted_sequence": 79, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.004044189575773822, "joint2": 1.6827855535124885, "joint3": 1.335274525264016, "joint4": -1.2549038856333736, "joint5": 0.003105969879124874, "joint6": -0.0016913692818341115, "gripper": 0.03752399936097009}, "target_simulation_time": 6.399999999999517, "target_positions": {"joint1": -0.006257542630706917, "joint2": 1.680671288882154, "joint3": 1.3373366007716674, "joint4": -1.2563849097828987, "joint5": 0.004446098566587577, "joint6": -0.0020102378684902335, "gripper": 0.03749008023244282}, "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": [0.5341143608093262, -1.414679765701294, 1.822428822517395, 1.0784683227539062, -2.104612112045288, 0.699999988079071], "source_tool_goal_m": [0.10518147828991492, -0.2297986329274735, 0.025996418134096394], "target_tool_goal_m": [0.24865235193166244, -0.002640720498966873, 0.10181094448363498], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3200, "api_command_sequence": 80, "api_accepted_sequence": 80, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006257542630706917, "joint2": 1.680671288882154, "joint3": 1.3373366007716674, "joint4": -1.2563849097828987, "joint5": 0.004446098566587577, "joint6": -0.0020102378684902335, "gripper": 0.03752399936097009}, "target_simulation_time": 6.479999999999508, "target_positions": {"joint1": -0.006247407870227287, "joint2": 1.6809538529663717, "joint3": 1.3373088151522585, "joint4": -1.2563444832421984, "joint5": 0.004420862435904543, "joint6": -0.0020018040436565513, "gripper": 0.03749056597416702}, "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": [0.5342904329299927, -1.4135088920593262, 1.8241645097732544, 1.0762964487075806, -2.1040992736816406, 0.699999988079071], "source_tool_goal_m": [0.10514874432566887, -0.22967190649653207, 0.02557000695515045], "target_tool_goal_m": [0.24875477566583584, -0.002562880541201207, 0.10138453330468905], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3240, "api_command_sequence": 81, "api_accepted_sequence": 81, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006247407870227287, "joint2": 1.6809538529663717, "joint3": 1.3373088151522585, "joint4": -1.2563444832421984, "joint5": 0.004420862435904543, "joint6": -0.0020018040436565513, "gripper": 0.03752399936097009}, "target_simulation_time": 6.5599999999995, "target_positions": {"joint1": -0.006247447138336831, "joint2": 1.6809531927860666, "joint3": 1.337308750584612, "joint4": -1.2563453765793107, "joint5": 0.004421245133577951, "joint6": -0.0020020243092842057, "gripper": 0.037491290627321226}, "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": [0.5370005369186401, -1.4145967960357666, 1.8245831727981567, 1.0757298469543457, -2.1043803691864014, 0.699999988079071], "source_tool_goal_m": [0.10570118240610547, -0.2294739801474198, 0.02571659439483727], "target_tool_goal_m": [0.24914416351445762, -0.002988382940001108, 0.10153112074437587], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3280, "api_command_sequence": 82, "api_accepted_sequence": 82, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006247447138336831, "joint2": 1.6809531927860666, "joint3": 1.337308750584612, "joint4": -1.2563453765793107, "joint5": 0.004421245133577951, "joint6": -0.0020020243092842057, "gripper": 0.03752399936097009}, "target_simulation_time": 6.639999999999491, "target_positions": {"joint1": -0.006247446367454061, "joint2": 1.6809531948766472, "joint3": 1.3373087513540207, "joint4": -1.2563453582483295, "joint5": 0.004421236759789043, "joint6": -0.0020020182578942645, "gripper": 0.037491932718901194}, "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": [0.5346745252609253, -1.4121394157409668, 1.825112223625183, 1.0740368366241455, -2.1028225421905518, 0.699999988079071], "source_tool_goal_m": [0.10523153189013064, -0.2296567576905072, 0.02521636426220454], "target_tool_goal_m": [0.24879997480154392, -0.002632161873446711, 0.10103089061174314], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3320, "api_command_sequence": 83, "api_accepted_sequence": 83, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006247446367454061, "joint2": 1.6809531948766472, "joint3": 1.3373087513540207, "joint4": -1.2563453582483295, "joint5": 0.004421236759789043, "joint6": -0.0020020182578942645, "gripper": 0.03752399936097009}, "target_simulation_time": 6.719999999999482, "target_positions": {"joint1": -0.006247446184738066, "joint2": 1.6809531948690866, "joint3": 1.337308751341283, "joint4": -1.2563453586225757, "joint5": 0.004421236239765296, "joint6": -0.0020020183443081254, "gripper": 0.037492541938492795}, "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": [0.5347362756729126, -1.4127936363220215, 1.8263518810272217, 1.0751999616622925, -2.104530096054077, 0.699999988079071], "source_tool_goal_m": [0.10505790086015834, -0.22933107117364615, 0.02515363306005075], "target_tool_goal_m": [0.2490291820792022, -0.0023509853258319637, 0.10096815940958934], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3360, "api_command_sequence": 84, "api_accepted_sequence": 84, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006247446184738066, "joint2": 1.6809531948690866, "joint3": 1.337308751341283, "joint4": -1.2563453586225757, "joint5": 0.004421236239765296, "joint6": -0.0020020183443081254, "gripper": 0.03752399936097009}, "target_simulation_time": 6.799999999999473, "target_positions": {"joint1": -0.006247446127856877, "joint2": 1.6809531948692844, "joint3": 1.337308751341029, "joint4": -1.256345358614877, "joint5": 0.004421236190498505, "joint6": -0.0020020183371971204, "gripper": 0.037493132700608015}, "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": [0.5348274111747742, -1.4133329391479492, 1.821770191192627, 1.0782779455184937, -2.1044044494628906, 0.699999988079071], "source_tool_goal_m": [0.10533095359227766, -0.2297545858469833, 0.025843580365024432], "target_tool_goal_m": [0.24874909321069075, -0.0027594638519254926, 0.10165810671456302], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3400, "api_command_sequence": 85, "api_accepted_sequence": 85, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006247446127856877, "joint2": 1.6809531948692844, "joint3": 1.337308751341029, "joint4": -1.256345358614877, "joint5": 0.004421236190498505, "joint6": -0.0020020183371971204, "gripper": 0.03752399936097009}, "target_simulation_time": 6.879999999999464, "target_positions": {"joint1": -0.00624744611398458, "joint2": 1.6809531948692822, "joint3": 1.3373087513408195, "joint4": -1.256345358614608, "joint5": 0.004421236330608437, "joint6": -0.0020020183550172057, "gripper": 0.037493710046721355}, "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": [0.5367333889007568, -1.4127711057662964, 1.8236548900604248, 1.0772786140441895, -2.1049129962921143, 0.699999988079071], "source_tool_goal_m": [0.10554009528240277, -0.22931209815235956, 0.02549485165442908], "target_tool_goal_m": [0.24922966472250524, -0.0027808395040123876, 0.10130937800396767], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3440, "api_command_sequence": 86, "api_accepted_sequence": 86, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00624744611398458, "joint2": 1.6809531948692822, "joint3": 1.3373087513408195, "joint4": -1.256345358614608, "joint5": 0.004421236330608437, "joint6": -0.0020020183550172057, "gripper": 0.03752399936097009}, "target_simulation_time": 6.9599999999994555, "target_positions": {"joint1": -0.006247446114508085, "joint2": 1.6809531948692353, "joint3": 1.3373087513407032, "joint4": -1.2563453586140803, "joint5": 0.00442123653116493, "joint6": -0.002002018379401217, "gripper": 0.03749427581071746}, "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": [0.5344001650810242, -1.4131159782409668, 1.8243205547332764, 1.0758590698242188, -2.1047677993774414, 0.6904296875], "source_tool_goal_m": [0.10516803510004709, -0.22965608913789076, 0.02548179421003602], "target_tool_goal_m": [0.2487764452327575, -0.002574353613048567, 0.1012963205595746], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3480, "api_command_sequence": 87, "api_accepted_sequence": 87, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006247446114508085, "joint2": 1.6809531948692353, "joint3": 1.3373087513407032, "joint4": -1.2563453586140803, "joint5": 0.00442123653116493, "joint6": -0.002002018379401217, "gripper": 0.037010976562500006}, "target_simulation_time": 7.039999999999447, "target_positions": {"joint1": -0.006247416748807522, "joint2": 1.6809531949232532, "joint3": 1.3373087510599826, "joint4": -1.2563453583879793, "joint5": 0.004421278980794679, "joint6": -0.002002024970228958, "gripper": 0.03748361824789999}, "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": [0.5349792242050171, -1.41256844997406, 1.8282791376113892, 1.0698977708816528, -2.104099750518799, 0.699999988079071], "source_tool_goal_m": [0.10530317833138216, -0.22964566127637867, 0.0249067329741572], "target_tool_goal_m": [0.24883726599290434, -0.0026928851188945647, 0.1007212593236958], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3520, "api_command_sequence": 88, "api_accepted_sequence": 88, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.007106256925548963, "joint2": 1.6842318313825937, "joint3": 1.3354909542744753, "joint4": -1.254664715889031, "joint5": 0.004983784203558543, "joint6": -0.0021520227154339083, "gripper": 0.03752399936097009}, "target_simulation_time": 7.119999999999438, "target_positions": {"joint1": -0.006274649314326756, "joint2": 1.6811837849895528, "joint3": 1.3372552499623673, "joint4": -1.25610184257313, "joint5": 0.004484478282203607, "joint6": -0.002031281439702487, "gripper": 0.03748459599792941}, "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": [0.5353983640670776, -1.412848949432373, 1.8297721147537231, 1.0697200298309326, -2.104038953781128, 0.699999988079071], "source_tool_goal_m": [0.10525461414208598, -0.2293895699370831, 0.024756176756287607], "target_tool_goal_m": [0.24905093022768468, -0.002551524022438996, 0.10057070310582619], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3560, "api_command_sequence": 89, "api_accepted_sequence": 89, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00669916994517368, "joint2": 1.6848157966003796, "joint3": 1.3356095873509086, "joint4": -1.253906062445711, "joint5": 0.004757285202217375, "joint6": -0.002104612566773949, "gripper": 0.03752399936097009}, "target_simulation_time": 7.199999999999429, "target_positions": {"joint1": -0.0062918735234473375, "joint2": 1.681793034910487, "joint3": 1.3371993726484506, "joint4": -1.2557541844048088, "joint5": 0.004524347927440501, "joint6": -0.00204877628874041, "gripper": 0.0374862983749959}, "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": [0.5340734720230103, -1.4128813743591309, 1.8284873962402344, 1.070400357246399, -2.102736711502075, 0.699999988079071], "source_tool_goal_m": [0.10509110335551915, -0.2296703638474799, 0.0249301542771357], "target_tool_goal_m": [0.2487342642230429, -0.002510047805942578, 0.1007446806266743], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3600, "api_command_sequence": 90, "api_accepted_sequence": 90, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0062918735234473375, "joint2": 1.681793034910487, "joint3": 1.3371993726484506, "joint4": -1.2557541844048088, "joint5": 0.004524347927440501, "joint6": -0.00204877628874041, "gripper": 0.03752399936097009}, "target_simulation_time": 7.27999999999942, "target_positions": {"joint1": -0.006293736047404415, "joint2": 1.6819156478591197, "joint3": 1.3371829121897016, "joint4": -1.2557099968643757, "joint5": 0.004528585873313008, "joint6": -0.0020502846257103146, "gripper": 0.037487325720171695}, "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": [0.5342980623245239, -1.4140974283218384, 1.8282849788665771, 1.0693327188491821, -2.1026909351348877, 0.6849609017372131], "source_tool_goal_m": [0.10529355270441353, -0.22991907194398595, 0.025190667143184756], "target_tool_goal_m": [0.2485857850063322, -0.002788085563258915, 0.10100519349272336], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3640, "api_command_sequence": 91, "api_accepted_sequence": 91, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006293736047404415, "joint2": 1.6819156478591197, "joint3": 1.3371829121897016, "joint4": -1.2557099968643757, "joint5": 0.004528585873313008, "joint6": -0.0020502846257103146, "gripper": 0.036717818395410266}, "target_simulation_time": 7.3599999999994115, "target_positions": {"joint1": -0.006293679583763138, "joint2": 1.6819152894054021, "joint3": 1.3371829174812222, "joint4": -1.255710936188074, "joint5": 0.004528572910277464, "joint6": -0.002050253882528085, "gripper": 0.03747088513442254}, "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": [0.5344955325126648, -1.4129562377929688, 1.8291290998458862, 1.0704920291900635, -2.1030385494232178, 0.6781249642372131], "source_tool_goal_m": [0.10509981834122648, -0.22950800508233202, 0.02485523894985682], "target_tool_goal_m": [0.2488847404901148, -0.0024562335128569656, 0.1006697652993954], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3680, "api_command_sequence": 92, "api_accepted_sequence": 92, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0064287914585900744, "joint2": 1.6845077735595226, "joint3": 1.3355678390047798, "joint4": -1.2545450721799165, "joint5": 0.004610422381924772, "joint6": -0.002072496924987105, "gripper": 0.03635137308291027}, "target_simulation_time": 7.439999999999403, "target_positions": {"joint1": -0.006297974306698931, "joint2": 1.68198747357794, "joint3": 1.3371319200245289, "joint4": -1.255539860134251, "joint5": 0.004537963518969239, "joint6": -0.002054615232765013, "gripper": 0.03744655651630922}, "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": [0.534480094909668, -1.412858486175537, 1.8285804986953735, 1.0705749988555908, -2.103300094604492, 0.6630859375], "source_tool_goal_m": [0.10514203625191346, -0.22958471188729856, 0.024911259660867865], "target_tool_goal_m": [0.24883125996688302, -0.0025236570244456117, 0.10072578601040644], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3720, "api_command_sequence": 93, "api_accepted_sequence": 93, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006297974306698931, "joint2": 1.68198747357794, "joint3": 1.3371319200245289, "joint4": -1.255539860134251, "joint5": 0.004537963518969239, "joint6": -0.002054615232765013, "gripper": 0.03554519531250001}, "target_simulation_time": 7.519999999999394, "target_positions": {"joint1": -0.006298561948569474, "joint2": 1.68199929236862, "joint3": 1.3371241924534494, "joint4": -1.2555196449679724, "joint5": 0.004539553855555984, "joint6": -0.0020551268316121958, "gripper": 0.037402632656615614}, "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": [0.5359309315681458, -1.4123131036758423, 1.8304659128189087, 1.0700336694717407, -2.105010509490967, 0.645312488079071], "source_tool_goal_m": [0.10523142547609145, -0.22912543231965657, 0.024561016859237783], "target_tool_goal_m": [0.2492815330961214, -0.002430105115730153, 0.10037554320877637], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3760, "api_command_sequence": 94, "api_accepted_sequence": 94, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006348309182985107, "joint2": 1.6856113149515957, "joint3": 1.3357542906820379, "joint4": -1.2530950736668651, "joint5": 0.0045632932490967, "joint6": -0.002062456828129084, "gripper": 0.03459243686097009}, "target_simulation_time": 7.599999999999385, "target_positions": {"joint1": -0.0063003923730389376, "joint2": 1.68232943410614, "joint3": 1.3370869996562504, "joint4": -1.2551703909454246, "joint5": 0.004549841907720021, "joint6": -0.002057443091794534, "gripper": 0.03713264373935285}, "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": [0.5369141101837158, -1.4135771989822388, 1.827680230140686, 1.071155309677124, -2.104123115539551, 0.615234375], "source_tool_goal_m": [0.10567263550101191, -0.2294629335708248, 0.02515811124313018], "target_tool_goal_m": [0.24914332537605924, -0.0029583088564935204, 0.10097263759266878], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3800, "api_command_sequence": 95, "api_accepted_sequence": 95, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0063003923730389376, "joint2": 1.68232943410614, "joint3": 1.3370869996562504, "joint4": -1.2551703909454246, "joint5": 0.004549841907720021, "joint6": -0.002057443091794534, "gripper": 0.032980078125000006}, "target_simulation_time": 7.679999999999376, "target_positions": {"joint1": -0.006301064515288268, "joint2": 1.6824184214982547, "joint3": 1.3370744639219705, "joint4": -1.2551222748961326, "joint5": 0.004564601529922041, "joint6": -0.002059360747045409, "gripper": 0.03630230596795723}, "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": [0.5363306403160095, -1.413274884223938, 1.828792691230774, 1.0706894397735596, -2.1045901775360107, 0.5960937142372131], "source_tool_goal_m": [0.10547246026117942, -0.22936684867051732, 0.02495635956024833], "target_tool_goal_m": [0.24915432977275592, -0.0027403454655786103, 0.10077088590978692], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3840, "api_command_sequence": 96, "api_accepted_sequence": 96, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301064515288268, "joint2": 1.6824184214982547, "joint3": 1.3370744639219705, "joint4": -1.2551222748961326, "joint5": 0.004564601529922041, "joint6": -0.002059360747045409, "gripper": 0.03195402933291027}, "target_simulation_time": 7.759999999999367, "target_positions": {"joint1": -0.00630121373429899, "joint2": 1.6824181515609662, "joint3": 1.3370744646109047, "joint4": -1.2551232730831776, "joint5": 0.0045688251655621025, "joint6": -0.002059813061231932, "gripper": 0.035054539356637986}, "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": [0.5370718836784363, -1.4128137826919556, 1.8282129764556885, 1.0707818269729614, -2.104041576385498, 0.570117175579071], "source_tool_goal_m": [0.10563918024106136, -0.22934157739007335, 0.024950785961314434], "target_tool_goal_m": [0.24924060729131836, -0.00288185637670442, 0.100765312310853], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3880, "api_command_sequence": 97, "api_accepted_sequence": 97, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00630121373429899, "joint2": 1.6824181515609662, "joint3": 1.3370744646109047, "joint4": -1.2551232730831776, "joint5": 0.0045688251655621025, "joint6": -0.002059813061231932, "gripper": 0.03056153842347009}, "target_simulation_time": 7.839999999999359, "target_positions": {"joint1": -0.006301232915405216, "joint2": 1.6824181521243033, "joint3": 1.337074464449544, "joint4": -1.2551232491695257, "joint5": 0.004570165133900922, "joint6": -0.002059963269633714, "gripper": 0.03372619588840669}, "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": [0.5331683158874512, -1.4135030508041382, 1.8275808095932007, 1.0729990005493164, -2.1033196449279785, 0.5249999761581421], "source_tool_goal_m": [0.10484666179446829, -0.22963189792008626, 0.025138558188407545], "target_tool_goal_m": [0.2486762162714054, -0.002273862323680882, 0.10095308453794613], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3920, "api_command_sequence": 98, "api_accepted_sequence": 98, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301232915405216, "joint2": 1.6824181521243033, "joint3": 1.337074464449544, "joint4": -1.2551232491695257, "joint5": 0.004570165133900922, "joint6": -0.002059963269633714, "gripper": 0.02814299872194018}, "target_simulation_time": 7.91999999999935, "target_positions": {"joint1": -0.006301476596794512, "joint2": 1.6824181496812327, "joint3": 1.3370744609162029, "joint4": -1.2551232255047378, "joint5": 0.00458016272695798, "joint6": -0.002061154740752149, "gripper": 0.03213020214245585}, "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": [0.5366107821464539, -1.4134035110473633, 1.8280194997787476, 1.0713274478912354, -2.103610038757324, 0.49833983182907104], "source_tool_goal_m": [0.10556030161931976, -0.2294021395652126, 0.02507853617511238], "target_tool_goal_m": [0.24915573082907305, -0.0028333800733395804, 0.10089306252465097], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 3960, "api_command_sequence": 99, "api_accepted_sequence": 99, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301476596794512, "joint2": 1.6824181496812327, "joint3": 1.3370744609162029, "joint4": -1.2551232255047378, "joint5": 0.00458016272695798, "joint6": -0.002061154740752149, "gripper": 0.02671386264222009}, "target_simulation_time": 7.999999999999341, "target_positions": {"joint1": -0.006301564428186158, "joint2": 1.6824181490053707, "joint3": 1.3370744607931346, "joint4": -1.255123222378313, "joint5": 0.004581425209296419, "joint6": -0.0020612555874029367, "gripper": 0.030235777825895305}, "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": [0.5374065041542053, -1.4129620790481567, 1.8268380165100098, 1.0729284286499023, -2.1046302318573, 0.4600585997104645], "source_tool_goal_m": [0.10568312102707807, -0.22927422597563507, 0.025141919251816136], "target_tool_goal_m": [0.24931835748596787, -0.0028960840339452777, 0.10095644560135472], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4000, "api_command_sequence": 100, "api_accepted_sequence": 100, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301564428186158, "joint2": 1.6824181490053707, "joint3": 1.3370744607931346, "joint4": -1.255123222378313, "joint5": 0.004581425209296419, "joint6": -0.0020612555874029367, "gripper": 0.02466176985076496}, "target_simulation_time": 8.079999999999368, "target_positions": {"joint1": -0.0063015432050970615, "joint2": 1.6824181490198111, "joint3": 1.337074460340418, "joint4": -1.2551232211817334, "joint5": 0.004581960929901653, "joint6": -0.0020613235560419806, "gripper": 0.028372032536601758}, "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": [0.5361784100532532, -1.4123611450195312, 1.8280633687973022, 1.0737075805664062, -2.1054060459136963, 0.42143553495407104], "source_tool_goal_m": [0.10524229127953451, -0.229039501297771, 0.024857818056535946], "target_tool_goal_m": [0.24936355201615248, -0.002407291038716975, 0.10067234440607453], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4040, "api_command_sequence": 101, "api_accepted_sequence": 101, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0063015432050970615, "joint2": 1.6824181490198111, "joint3": 1.337074460340418, "joint4": -1.2551232211817334, "joint5": 0.004581960929901653, "joint6": -0.0020613235560419806, "gripper": 0.02259135287659509}, "target_simulation_time": 8.159999999999394, "target_positions": {"joint1": -0.006301609619894095, "joint2": 1.682418148450845, "joint3": 1.3370744596558475, "joint4": -1.2551232158057224, "joint5": 0.004584355162265861, "joint6": -0.0020615916595528865, "gripper": 0.026415879244025223}, "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": [0.5374571681022644, -1.4127084016799927, 1.8260525465011597, 1.074172854423523, -2.1036696434020996, 0.3722167909145355], "source_tool_goal_m": [0.10566464578633776, -0.22922603980766326, 0.025189916141408086], "target_tool_goal_m": [0.24935501135907337, -0.002861022004489644, 0.10100444249094667], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4080, "api_command_sequence": 102, "api_accepted_sequence": 102, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301609619894095, "joint2": 1.682418148450845, "joint3": 1.3370744596558475, "joint4": -1.2551232158057224, "joint5": 0.004584355162265861, "joint6": -0.0020615916595528865, "gripper": 0.019952946946110047}, "target_simulation_time": 8.239999999999421, "target_positions": {"joint1": -0.0063017437719831825, "joint2": 1.6824181471836313, "joint3": 1.3370744576074007, "joint4": -1.2551232018950904, "joint5": 0.004590790520113212, "joint6": -0.0020623135645494836, "gripper": 0.024273694211591}, "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": [0.535892128944397, -1.4133597612380981, 1.825493335723877, 1.07559335231781, -2.105238914489746, 0.33154296875], "source_tool_goal_m": [0.10535529425020694, -0.22934920807023426, 0.02536889867326371], "target_tool_goal_m": [0.24912578381395892, -0.0026274396871128515, 0.10118342502280231], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4120, "api_command_sequence": 103, "api_accepted_sequence": 103, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0063017437719831825, "joint2": 1.6824181471836313, "joint3": 1.3370744576074007, "joint4": -1.2551232018950904, "joint5": 0.004590790520113212, "joint6": -0.0020623135645494836, "gripper": 0.017772597656250003}, "target_simulation_time": 8.319999999999448, "target_positions": {"joint1": -0.00630183435140329, "joint2": 1.682418146478048, "joint3": 1.337074457088914, "joint4": -1.255123196536022, "joint5": 0.004593263168540309, "joint6": -0.0020625622522263505, "gripper": 0.021904009050758285}, "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": [0.5362773537635803, -1.4131239652633667, 1.8265786170959473, 1.0717241764068604, -2.104672431945801, 0.3884521424770355], "source_tool_goal_m": [0.10560254124182154, -0.22960750434868796, 0.02521972474856035], "target_tool_goal_m": [0.24898564165277356, -0.0029497270170183824, 0.10103425109809894], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4160, "api_command_sequence": 104, "api_accepted_sequence": 104, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00630183435140329, "joint2": 1.682418146478048, "joint3": 1.337074457088914, "joint4": -1.255123196536022, "joint5": 0.004593263168540309, "joint6": -0.0020625622522263505, "gripper": 0.020823254563297547}, "target_simulation_time": 8.399999999999475, "target_positions": {"joint1": -0.006300786317045096, "joint2": 1.6824181554138729, "joint3": 1.3370744713788114, "joint4": -1.2551232984472758, "joint5": 0.004542698384221482, "joint6": -0.002057083719679513, "gripper": 0.020854717135986956}, "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": [0.5362610816955566, -1.4122904539108276, 1.8272366523742676, 1.0720094442367554, -2.1044394969940186, 0.35273435711860657], "source_tool_goal_m": [0.10547006177915604, -0.22939230329073976, 0.024975482812611596], "target_tool_goal_m": [0.24913034576603524, -0.0027478469272100886, 0.1007900091621502], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4200, "api_command_sequence": 105, "api_accepted_sequence": 105, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006300786317045096, "joint2": 1.6824181554138729, "joint3": 1.3370744713788114, "joint4": -1.2551232984472758, "joint5": 0.004542698384221482, "joint6": -0.002057083719679513, "gripper": 0.018908577166455137}, "target_simulation_time": 8.479999999999501, "target_positions": {"joint1": -0.0063005109840564375, "joint2": 1.6824181571516972, "joint3": 1.3370744710635774, "joint4": -1.2551233061074798, "joint5": 0.004539083556644924, "joint6": -0.0020568046709511967, "gripper": 0.020808975518790067}, "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": [0.5366998314857483, -1.412826418876648, 1.8262068033218384, 1.0712347030639648, -2.1051433086395264, 0.3199218809604645], "source_tool_goal_m": [0.10574211690345413, -0.22966466502390265, 0.025221606478874156], "target_tool_goal_m": [0.24898688426906085, -0.003097966974746736, 0.10103613282841273], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4240, "api_command_sequence": 106, "api_accepted_sequence": 106, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0063005109840564375, "joint2": 1.6824181571516972, "joint3": 1.3370744710635774, "joint4": -1.2551233061074798, "joint5": 0.004539083556644924, "joint6": -0.0020568046709511967, "gripper": 0.01714964094451496}, "target_simulation_time": 8.559999999999528, "target_positions": {"joint1": -0.006300966283825509, "joint2": 1.6824181539249934, "joint3": 1.3370744670670107, "joint4": -1.255123272008027, "joint5": 0.004556102189955287, "joint6": -0.002058650417420387, "gripper": 0.020321226078862383}, "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": [0.5363438129425049, -1.4120711088180542, 1.8263181447982788, 1.0730900764465332, -2.1046085357666016, 0.25703123211860657], "source_tool_goal_m": [0.10548551450977342, -0.22938326517247887, 0.025049205831894128], "target_tool_goal_m": [0.249144411694302, -0.002758417991291348, 0.10086373218143271], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4280, "api_command_sequence": 107, "api_accepted_sequence": 107, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006300966283825509, "joint2": 1.6824181539249934, "joint3": 1.3370744670670107, "joint4": -1.255123272008027, "joint5": 0.004556102189955287, "joint6": -0.002058650417420387, "gripper": 0.013778342791455135}, "target_simulation_time": 8.639999999999555, "target_positions": {"joint1": -0.006301608264355974, "joint2": 1.6824181486861893, "joint3": 1.3370744586894898, "joint4": -1.2551232122272167, "joint5": 0.004586291495741982, "joint6": -0.002061868988436456, "gripper": 0.01879845001213008}, "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": 4320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 108, "source_target": [0.5359561443328857, -1.4121986627578735, 1.8265283107757568, 1.072883129119873, -2.10471248626709, 0.22011718153953552], "source_tool_goal_m": [0.1054146585283651, -0.2294246631431219, 0.0250459156161863], "target_tool_goal_m": [0.2490799553216446, -0.0027099290496374814, 0.10086044196572488], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4320, "api_command_sequence": 108, "api_accepted_sequence": 108, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301608264355974, "joint2": 1.6824181486861893, "joint3": 1.3370744586894898, "joint4": -1.2551232122272167, "joint5": 0.004586291495741982, "joint6": -0.002061868988436456, "gripper": 0.011799538742985045}, "target_simulation_time": 8.719999999999581, "target_positions": {"joint1": -0.006301999232492435, "joint2": 1.6824181457408995, "joint3": 1.337074455749291, "joint4": -1.25512318609598, "joint5": 0.004599545297901543, "joint6": -0.002063176831353925, "gripper": 0.01626112584005639}, "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": 4360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 109, "source_target": [0.5357692241668701, -1.4119476079940796, 1.8260995149612427, 1.0722756385803223, -2.1048872470855713, 0.19550780951976776], "source_tool_goal_m": [0.1054589801339912, -0.2295763261641468, 0.02506516240159376], "target_tool_goal_m": [0.24895933334697232, -0.002807750727449106, 0.10087968875113235], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4360, "api_command_sequence": 109, "api_accepted_sequence": 109, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301999232492435, "joint2": 1.6824181457408995, "joint3": 1.337074455749291, "joint4": -1.25512318609598, "joint5": 0.004599545297901543, "joint6": -0.002063176831353925, "gripper": 0.010480335777742524}, "target_simulation_time": 8.799999999999608, "target_positions": {"joint1": -0.006301720876685763, "joint2": 1.6824181474820386, "joint3": 1.33707445842383, "joint4": -1.2551232084816777, "joint5": 0.004587218516397452, "joint6": -0.0020618553732930276, "gripper": 0.01389236641444629}, "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": 4400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 110, "source_target": [0.5362792611122131, -1.4120770692825317, 1.824718952178955, 1.0728715658187866, -2.1037518978118896, 0.16542968153953552], "source_tool_goal_m": [0.10565467209458423, -0.2296980816104611, 0.02527095307306597], "target_tool_goal_m": [0.24892335678094776, -0.003031407973329059, 0.10108547942260454], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4400, "api_command_sequence": 110, "api_accepted_sequence": 110, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301720876685763, "joint2": 1.6824181474820386, "joint3": 1.33707445842383, "joint4": -1.2551232084816777, "joint5": 0.004587218516397452, "joint6": -0.0020618553732930276, "gripper": 0.008867976242985045}, "target_simulation_time": 8.879999999999635, "target_positions": {"joint1": -0.006301465703010388, "joint2": 1.6824181491957242, "joint3": 1.337074460709171, "joint4": -1.2551232277347135, "joint5": 0.004576360818133305, "joint6": -0.002060767380922443, "gripper": 0.012065797955699188}, "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": 4440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 111, "source_target": [0.5368783473968506, -1.4122314453125, 1.8253182172775269, 1.0756405591964722, -2.103466033935547, 0.14492186903953552], "source_tool_goal_m": [0.1054970893207062, -0.22918545632389592, 0.025187965910600393], "target_tool_goal_m": [0.24932810731766294, -0.0026937210608000126, 0.10100249226013897], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4440, "api_command_sequence": 111, "api_accepted_sequence": 111, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301465703010388, "joint2": 1.6824181491957242, "joint3": 1.337074460709171, "joint4": -1.2551232277347135, "joint5": 0.004576360818133305, "joint6": -0.002060767380922443, "gripper": 0.007768640305485045}, "target_simulation_time": 8.959999999999662, "target_positions": {"joint1": -0.006301017798019473, "joint2": 1.6824180205331363, "joint3": 1.337074621094029, "joint4": -1.2551234525688686, "joint5": 0.004564129753686892, "joint6": -0.0020586041870772447, "gripper": 0.010624426594546132}, "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": 0.038296679941944294}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.034658504423675414}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.18144774122212648}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.17914313261286743}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3219360365734166}], "left_finger_force_n": 0.3219360365734166, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486855679e-05}, "target_sequence": 4480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 112, "source_target": [0.537613570690155, -1.4131691455841064, 1.8226207494735718, 1.0760313272476196, -2.103672504425049, 0.004101562313735485], "source_tool_goal_m": [0.10592368878355445, -0.2295957247761709, 0.025722017323781363], "target_tool_goal_m": [0.24911838909155237, -0.0032363409353824077, 0.10153654367331993], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4480, "api_command_sequence": 112, "api_accepted_sequence": 112, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006301017798019473, "joint2": 1.6824180205331363, "joint3": 1.337074621094029, "joint4": -1.2551234525688686, "joint5": 0.004564129753686892, "joint6": -0.0020586041870772447, "gripper": 0.00021986717751515766}, "target_simulation_time": 9.039999999999688, "target_positions": {"joint1": -0.006219751693514506, "joint2": 1.6823775079544983, "joint3": 1.3371168099902389, "joint4": -1.2552031906842394, "joint5": 0.0037858394962775373, "joint6": -0.0017434205353087304, "gripper": 0.01017212103015019}, "target_object": {"position_m": [0.24999558902757787, -0.00026685227419337567, 0.10000355448326052], "quaternion_wxyz": [0.7070731149729823, 0.004255882505722014, -0.004412073591967216, 0.7071138742473668], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3056286040282205}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.011979704564588552}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2955528213266864}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0013976777640736023}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.29286206257678943}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2362448429911761}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.023168083257073372}], "left_finger_force_n": 0.5522749888250389, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.00011781454462193863}, "target_sequence": 4520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 113, "source_target": [0.5375764966011047, -1.4127987623214722, 1.821085810661316, 1.0798065662384033, -2.102801561355591, 0.0], "source_tool_goal_m": [0.10576421030254357, -0.22934705512539458, 0.02582412998491959], "target_tool_goal_m": [0.24928316697299005, -0.002997267025110663, 0.10163865633445818], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4520, "api_command_sequence": 113, "api_accepted_sequence": 113, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.006219751693514506, "joint2": 1.6823775079544983, "joint3": 1.3371168099902389, "joint4": -1.2552031906842394, "joint5": 0.0037858394962775373, "joint6": -0.0017434205353087304, "gripper": 0.0}, "target_simulation_time": 9.119999999999715, "target_positions": {"joint1": -0.005516034123434653, "joint2": 1.6822857115926961, "joint3": 1.3371993339501405, "joint4": -1.25535937783969, "joint5": 0.002342843278243357, "joint6": -0.001138762141455575, "gripper": 0.009401221090840668}, "target_object": {"position_m": [0.24997996591340477, -0.0006116339573439713, 0.09998247800409243], "quaternion_wxyz": [0.7069173121010038, 0.009232496075752787, -0.00981312192535423, 0.7071678566692507], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.37082145691808854}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3408617354553183}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.37316707668187254}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.3067286319699471}], "left_finger_force_n": 0.6798957086518196, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.0001388910237900276}, "target_sequence": 4560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 114, "source_target": [0.5372291207313538, -1.4136621952056885, 1.8199787139892578, 1.0811395645141602, -2.102919578552246, 0.0], "source_tool_goal_m": [0.10575143775900776, -0.22946927441462128, 0.026118080164573773], "target_tool_goal_m": [0.24916753123220603, -0.0030321462248995403, 0.10193260651411234], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4560, "api_command_sequence": 114, "api_accepted_sequence": 114, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00879908996867144, "joint2": 1.681288787603448, "joint3": 1.3377934462955472, "joint4": -1.255831821570692, "joint5": 0.004529304323271445, "joint6": -0.0017188886759813753, "gripper": 0.0}, "target_simulation_time": 9.199999999999742, "target_positions": {"joint1": -0.005272348407974257, "joint2": 1.6818447229092772, "joint3": 1.3373498536764292, "joint4": -1.2556102395355557, "joint5": 0.0010020424592247622, "joint6": -0.0006190236524774442, "gripper": 0.008842841221934718}, "target_object": {"position_m": [0.24996467899286742, -0.0009456863064419219, 0.10005884263139216], "quaternion_wxyz": [0.7067381108429113, 0.013972920687404728, -0.014995705517899343, 0.7071782865626444], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3710718605317811}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.3268364654134432}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3663982535943973}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2860576509949413}], "left_finger_force_n": 0.6524559045893386, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.252639649030611e-05}, "target_sequence": 4600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 115, "source_target": [0.5357314348220825, -1.4138883352279663, 1.8149105310440063, 1.0855377912521362, -2.103790283203125, 0.0], "source_tool_goal_m": [0.10566242319689749, -0.22993913052560092, 0.02680522271691757], "target_tool_goal_m": [0.2487078138275951, -0.0031300579455205103, 0.10261974906645616], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4600, "api_command_sequence": 115, "api_accepted_sequence": 115, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.009649784162197706, "joint2": 1.6789609470123654, "joint3": 1.3379810861220989, "joint4": -1.2579661999136782, "joint5": 0.003916931102949961, "joint6": -0.0013922813596406471, "gripper": 0.0}, "target_simulation_time": 9.279999999999768, "target_positions": {"joint1": -0.0053113933531409455, "joint2": 1.6807458187968334, "joint3": 1.3374529352679616, "joint4": -1.255921457156898, "joint5": 0.00017618445960794493, "joint6": -0.00030381167281245307, "gripper": 0.008522303056257882}, "target_object": {"position_m": [0.2499289930924856, -0.0012214613333226619, 0.10026992213337105], "quaternion_wxyz": [0.7065269520597262, 0.017600223603777825, -0.01956913471028775, 0.7071965406511698], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.1314069370713331}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.07102475698324191}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.017239807820571485}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3236840356992294}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.23804970671562342}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.18383195058141732}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.10442646703853445}], "left_finger_force_n": 0.5789735502354243, "right_finger_force_n": 0.28825841761995175, "bilateral_contact": true, "supported": true, "lift_m": 0.0001485531054885858}, "target_sequence": 4640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 116, "source_target": [0.5380176901817322, -1.4153923988342285, 1.8151522874832153, 1.0855916738510132, -2.102956533432007, 0.0], "source_tool_goal_m": [0.10612666873948952, -0.22977103521522196, 0.027045841655891217], "target_tool_goal_m": [0.2490366399485261, -0.0034869607031761704, 0.1028603680054298], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4640, "api_command_sequence": 116, "api_accepted_sequence": 116, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011026343576159182, "joint2": 1.6783198023979478, "joint3": 1.3386294112811359, "joint4": -1.2573168824108096, "joint5": 0.003980803149764005, "joint6": -0.0013133919563522371, "gripper": 0.0}, "target_simulation_time": 9.359999999999795, "target_positions": {"joint1": -0.005815342437417995, "joint2": 1.6802399620236277, "joint3": 1.3375136558357248, "joint4": -1.2560665140147247, "joint5": -0.00015656520233812193, "joint6": -0.00020098747462927048, "gripper": 0.008512112032397634}, "target_object": {"position_m": [0.24991308887880828, -0.0012874410069426351, 0.10040975132439027], "quaternion_wxyz": [0.7067998211944521, 0.017124878633910226, -0.019452028437737603, 0.7069387313487093], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.1458425737432749}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.09987250084358017}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.01484449087460491}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3318552950692213}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2484885966596104}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.15354996498652118}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.07744665043321808}], "left_finger_force_n": 0.5951883826034366, "right_finger_force_n": 0.23099661541973926, "bilateral_contact": true, "supported": true, "lift_m": 0.0002883822965078081}, "target_sequence": 4680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 117, "source_target": [0.5371387600898743, -1.4153987169265747, 1.810791254043579, 1.0940152406692505, -2.103482961654663, 0.0], "source_tool_goal_m": [0.1057563633806007, -0.22951283003153275, 0.027554981886425772], "target_tool_goal_m": [0.2491299242376343, -0.0030531666379421687, 0.10336950823596436], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4680, "api_command_sequence": 117, "api_accepted_sequence": 117, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.010183385878948376, "joint2": 1.6768780678365263, "joint3": 1.3393866551037923, "joint4": -1.2577798240606586, "joint5": 0.0027511131548715356, "joint6": -0.0009725533134344586, "gripper": 0.0}, "target_simulation_time": 9.439999999999822, "target_positions": {"joint1": -0.006256095537037794, "joint2": 1.67995900158677, "joint3": 1.3375792005520344, "joint4": -1.25620841016748, "joint5": -0.00037122982697220197, "joint6": -0.00012219510361538064, "gripper": 0.008491600197791835}, "target_object": {"position_m": [0.24989785237317802, -0.0013942350563161642, 0.10048951210426994], "quaternion_wxyz": [0.7073538477321057, 0.016651553223364167, -0.018797375019419544, 0.7064134190162396], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.11557863834188967}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.25229126274605057}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.19333753506854426}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.17340354018115456}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.1173249081486042}], "left_finger_force_n": 0.44562879781459486, "right_finger_force_n": 0.29072844832975875, "bilateral_contact": true, "supported": true, "lift_m": 0.000368143076387481}, "target_sequence": 4720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 118, "source_target": [0.5384882688522339, -1.4168254137039185, 1.8047735691070557, 1.0977293252944946, -2.105865240097046, 0.0], "source_tool_goal_m": [0.10639414042881211, -0.23001190974427183, 0.028600909565629606], "target_tool_goal_m": [0.2489199765808988, -0.003820957782988076, 0.10441543591516819], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4720, "api_command_sequence": 118, "api_accepted_sequence": 118, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012505923750759956, "joint2": 1.6737794670482469, "joint3": 1.3404814451897054, "joint4": -1.2598497713533925, "joint5": 0.0037885075922763074, "joint6": -0.0012260126632926418, "gripper": 0.0}, "target_simulation_time": 9.519999999999849, "target_positions": {"joint1": -0.007645757075559026, "joint2": 1.6788699377428251, "joint3": 1.3377177403704907, "joint4": -1.2566882801019392, "joint5": -0.00030625284616356995, "joint6": -0.00016590208410707425, "gripper": 0.00817341530504471}, "target_object": {"position_m": [0.24984406890435146, -0.0016683646201210978, 0.09990432083859878], "quaternion_wxyz": [0.7085038723525849, 0.0013251025497595045, -0.0031441196618277128, 0.7056986761190486], "contacts": [{"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.37363307969597}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.2997607911442003}, {"geom": "pickup_pedestal", "body": "world", "normal_force_n": 0.0}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.3272754982188181}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.2709577906369}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.004343101206175053}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0}], "left_finger_force_n": 0.6025763900618931, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -0.0002170481892836834}, "target_sequence": 4760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 119, "source_target": [0.5392979979515076, -1.417231798171997, 1.8018196821212769, 1.1072721481323242, -2.1035640239715576, 0.0], "source_tool_goal_m": [0.10612093804741123, -0.22922833599586134, 0.028982101453754447], "target_tool_goal_m": [0.24952636979012546, -0.0032754827670240924, 0.10479662780329302], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4760, "api_command_sequence": 119, "api_accepted_sequence": 119, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011447882706206426, "joint2": 1.6730718573930101, "joint3": 1.3418403976897788, "joint4": -1.2588341665346294, "joint5": 0.002224831710422832, "joint6": -0.0008375208138863006, "gripper": 0.0}, "target_simulation_time": 9.599999999999875, "target_positions": {"joint1": -0.008404078124062641, "joint2": 1.6767282846715934, "joint3": 1.3382878497317057, "joint4": -1.2570824534677596, "joint5": -0.0003438029388739678, "joint6": -0.0001593266479233937, "gripper": 0.008115794671367665}, "target_object": {"position_m": [0.24990332298024276, -0.002074686592654514, 0.100465953911785], "quaternion_wxyz": [0.7089095163596469, 0.002516252469554506, -0.0055120341772340676, 0.7052734105064996], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.18102424430343894}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.14586113142611087}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05938784198951934}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.03136509579205048}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.03844922182564928}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.010467491892904754}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.20363908462947158}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.16806618496748627}], "left_finger_force_n": 0.41763831351111963, "right_finger_force_n": 0.42062198331551187, "bilateral_contact": true, "supported": false, "lift_m": 0.0003445848839025434}, "target_sequence": 4800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 120, "source_target": [0.5381521582603455, -1.4160798788070679, 1.8057317733764648, 1.1005905866622925, -2.1041390895843506, 0.0], "source_tool_goal_m": [0.10597878239310524, -0.229462755422088, 0.02830388222153328], "target_tool_goal_m": [0.24925985531924888, -0.003235735811047674, 0.10411840857107185], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4800, "api_command_sequence": 120, "api_accepted_sequence": 120, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011612376072466549, "joint2": 1.6742422291399799, "joint3": 1.3400761127909462, "joint4": -1.2579833023084628, "joint5": 0.0017918107745189544, "joint6": -0.0007260432005817212, "gripper": 0.0}, "target_simulation_time": 9.679999999999902, "target_positions": {"joint1": -0.009108325910369251, "joint2": 1.6759113225081799, "joint3": 1.3384052037732044, "joint4": -1.2571472062088893, "joint5": -5.089096190977565e-05, "joint6": -0.0002885228361035327, "gripper": 0.008106125170806682}, "target_object": {"position_m": [0.24992173315953164, -0.0023258314041526384, 0.10068481362372893], "quaternion_wxyz": [0.7091874120240533, 0.0011318560047319716, -0.004691134661532537, 0.7050034941645293], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.15447055379423152}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.12251656703530295}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06249792009826889}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.036729097651435214}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.04559961589499809}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.019376764351628887}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.17299861738281475}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.14076602110587919}], "left_finger_force_n": 0.3762141385792386, "right_finger_force_n": 0.3787410187353209, "bilateral_contact": true, "supported": false, "lift_m": 0.0005634445958464657}, "target_sequence": 4840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 121, "source_target": [0.5375649333000183, -1.4169278144836426, 1.801497459411621, 1.1073766946792603, -2.103884696960449, 0.0], "source_tool_goal_m": [0.10581223589121623, -0.22942813040541152, 0.028969823899331643], "target_tool_goal_m": [0.24922793435633323, -0.003071615161732474, 0.10478435024887023], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4840, "api_command_sequence": 121, "api_accepted_sequence": 121, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011255913492468045, "joint2": 1.6721389424510547, "joint3": 1.3407468045401192, "joint4": -1.2588521678186013, "joint5": 0.0013789532022925157, "joint6": -0.0006678675304391966, "gripper": 0.0}, "target_simulation_time": 9.759999999999929, "target_positions": {"joint1": -0.009316769766816037, "joint2": 1.6758363622360375, "joint3": 1.3384445607518316, "joint4": -1.2573140945560979, "joint5": 0.00016097881779582283, "joint6": -0.00037540249512313747, "gripper": 0.008093728808992695}, "target_object": {"position_m": [0.24989160004720704, -0.0024293344193859795, 0.1007102533610645], "quaternion_wxyz": [0.7092895539801312, 0.0003647181654548495, -0.003813412750121433, 0.7049068402835398], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.14323368451646137}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.11353157790154203}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07168915589906215}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.04750662414449356}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06237176304192275}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.03329295871927641}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.1558425442256307}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.12596874832137722}], "left_finger_force_n": 0.3759610424615591, "right_finger_force_n": 0.3774760143082071, "bilateral_contact": true, "supported": false, "lift_m": 0.0005888843331820354}, "target_sequence": 4880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 122, "source_target": [0.5395601391792297, -1.4178069829940796, 1.7980204820632935, 1.1118888854980469, -2.105219841003418, 0.0], "source_tool_goal_m": [0.10622099439272326, -0.2292804889949056, 0.02956102452382786], "target_tool_goal_m": [0.24951712986059152, -0.0033859985617996444, 0.10537555087336645], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4880, "api_command_sequence": 122, "api_accepted_sequence": 122, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012058824766963976, "joint2": 1.6708137131124616, "joint3": 1.3420854787844048, "joint4": -1.2591090077656804, "joint5": 0.001987613783475923, "joint6": -0.0008600016015809953, "gripper": 0.0}, "target_simulation_time": 9.839999999999955, "target_positions": {"joint1": -0.00945188204531501, "joint2": 1.6754490599869494, "joint3": 1.3385188188700894, "joint4": -1.2575057708663233, "joint5": 0.0003861821359719134, "joint6": -0.0004773567176318598, "gripper": 0.008084744255379339}, "target_object": {"position_m": [0.2498652381160534, -0.002508941535964581, 0.10081414220903386], "quaternion_wxyz": [0.7093452446087778, -0.00036190977638255725, -0.003203582152116895, 0.7048538359359491], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.13355315115457478}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.10559227176656681}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07920417593280794}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.053136229603510915}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.021122328891328052}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.01978126391337745}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07335069184496942}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.04584430299681421}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.14133222452626065}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.11328654698174061}], "left_finger_force_n": 0.3926081573487885, "right_finger_force_n": 0.39359503026316234, "bilateral_contact": true, "supported": false, "lift_m": 0.0006927731811513932}, "target_sequence": 4920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 123, "source_target": [0.5366482734680176, -1.4199273586273193, 1.7932965755462646, 1.1160869598388672, -2.1049141883850098, 0.0], "source_tool_goal_m": [0.10592978611013718, -0.23000251229642868, 0.030554202773385386], "target_tool_goal_m": [0.24875199036247456, -0.0033964902531320234, 0.10636872912292397], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4920, "api_command_sequence": 123, "api_accepted_sequence": 123, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012037660248410546, "joint2": 1.6673473763585225, "joint3": 1.3421975483295436, "joint4": -1.2623972839208626, "joint5": 0.002110321758921521, "joint6": -0.0009344200221410174, "gripper": 0.0}, "target_simulation_time": 9.919999999999982, "target_positions": {"joint1": -0.009574969751427364, "joint2": 1.6737668202873508, "joint3": 1.338583556794904, "joint4": -1.2581341660853465, "joint5": 0.0006107214287183674, "joint6": -0.000576851110728862, "gripper": 0.008081342661273382}, "target_object": {"position_m": [0.24973796013922775, -0.0025847415410648693, 0.10122891598596728], "quaternion_wxyz": [0.7093941667527234, -0.0012074641132007466, -0.003103695919141632, 0.7048041041873028], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.12271392996567186}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.09631767879606966}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08178815152483816}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05568757215612012}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.033483585917950386}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.012207651536923658}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.036182504147615}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.01023352965233626}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0766456736072166}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05056308954008563}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.12782202740435675}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.10137289298233733}], "left_finger_force_n": 0.40219856989757385, "right_finger_force_n": 0.40281971733394756, "bilateral_contact": true, "supported": false, "lift_m": 0.0011075469580848207}, "target_sequence": 4960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 124, "source_target": [0.5356332659721375, -1.4187825918197632, 1.7855116128921509, 1.1218855381011963, -2.103994607925415, 0.0], "source_tool_goal_m": [0.10601855458590036, -0.23057930883240751, 0.03135965180578075], "target_tool_goal_m": [0.2482629175779933, -0.0036961951011376683, 0.10717417815531932], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 4960, "api_command_sequence": 124, "api_accepted_sequence": 124, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012786115150951889, "joint2": 1.6643174972286343, "joint3": 1.3422306440111607, "joint4": -1.2644301099104376, "joint5": 0.0027538712262183927, "joint6": -0.0011448487394154733, "gripper": 0.0}, "target_simulation_time": 10.000000000000009, "target_positions": {"joint1": -0.009910496320267066, "joint2": 1.670529920055055, "joint3": 1.3386520284585068, "joint4": -1.2590308137860204, "joint5": 0.0008670345338107299, "joint6": -0.0006963316816463568, "gripper": 0.008081030663126246}, "target_object": {"position_m": [0.24954743130582505, -0.0027147414471220695, 0.10201813206971128], "quaternion_wxyz": [0.7094949605633313, -0.0023957745570536886, -0.0035837852294705362, 0.7046973234537924], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.11343479648647976}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0882491183276748}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08162569709971082}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05664794513886441}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0422209410862295}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.020369869397454776}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0453837726966336}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0205320510375214}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07691584440247483}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0519498238357808}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.11669044622008087}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.09146680473996184}], "left_finger_force_n": 0.4025483675364141, "right_finger_force_n": 0.40293874293245335, "bilateral_contact": true, "supported": false, "lift_m": 0.001896763041828814}, "target_sequence": 5000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 125, "source_target": [0.538753867149353, -1.4184132814407349, 1.7831484079360962, 1.1285486221313477, -2.10406231880188, 0.0], "source_tool_goal_m": [0.10629903027754531, -0.22974958396197037, 0.03155105334477355], "target_tool_goal_m": [0.24912159934916, -0.0036350371979668394, 0.10736557969431215], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5000, "api_command_sequence": 125, "api_accepted_sequence": 125, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012581042513907213, "joint2": 1.663704108392135, "joint3": 1.3431688791942125, "joint4": -1.2618735964018941, "joint5": 0.0026522453671207666, "joint6": -0.0011696530870087835, "gripper": 0.0}, "target_simulation_time": 10.080000000000036, "target_positions": {"joint1": -0.010224437080841003, "joint2": 1.6674574979359211, "joint3": 1.3392018856368808, "joint4": -1.2595064587304519, "joint5": 0.0011093467210520809, "joint6": -0.0008008825693302294, "gripper": 0.00808037997023601}, "target_object": {"position_m": [0.24957253696944137, -0.0028428032109957813, 0.10285807146250218], "quaternion_wxyz": [0.7095956992156235, -0.0037798191003263052, -0.0043970166501712355, 0.7045852133467169], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.10605882329876706}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.08199489539774026}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08107819239491644}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05716372007679558}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.05007197934572755}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.02657747719043129}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.052265463432273035}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.02845258358591158}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07707679981340548}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05317016777889745}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10831108021084196}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.08421968758097571}], "left_finger_force_n": 0.4029450877043782, "right_finger_force_n": 0.4034957824023052, "bilateral_contact": true, "supported": false, "lift_m": 0.0027367024346197227}, "target_sequence": 5040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 126, "source_target": [0.538813591003418, -1.4223378896713257, 1.7769991159439087, 1.1369659900665283, -2.1058437824249268, 0.0], "source_tool_goal_m": [0.10644314849849977, -0.2299588079547141, 0.0330321310954205], "target_tool_goal_m": [0.24898673687819073, -0.003845194854981494, 0.10884665744495908], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5040, "api_command_sequence": 126, "api_accepted_sequence": 126, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.013132412001809958, "joint2": 1.6587324019612546, "joint3": 1.3443865891866076, "joint4": -1.2636747137656517, "joint5": 0.0030550393633720675, "joint6": -0.0013165084423712424, "gripper": 0.0}, "target_simulation_time": 10.160000000000062, "target_positions": {"joint1": -0.010477520872489769, "joint2": 1.6644392548792994, "joint3": 1.3400650944298678, "joint4": -1.2600616209120628, "joint5": 0.0013531301338935119, "joint6": -0.0009108528935996523, "gripper": 0.008080425118191356}, "target_object": {"position_m": [0.24966835482497335, -0.002953263895574622, 0.10374552232034678], "quaternion_wxyz": [0.7096667086844247, -0.005180627074742832, -0.00531644263083721, 0.7044984450840777], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.1000348966385732}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.07700707760046405}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.08032659627913236}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05740773994445491}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.055827650274225524}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.03300466789186416}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0574739979070154}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.03463506027743694}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07707840541145872}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.054164030726946685}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.10172027811158678}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.07867125993902772}], "left_finger_force_n": 0.4036086286287142, "right_finger_force_n": 0.40374303237347225, "bilateral_contact": true, "supported": false, "lift_m": 0.0036241532924643216}, "target_sequence": 5080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 127, "source_target": [0.5403563976287842, -1.4237314462661743, 1.7744511365890503, 1.1423028707504272, -2.106510877609253, 0.0], "source_tool_goal_m": [0.10662725192144332, -0.22962367102694572, 0.03358597420113535], "target_tool_goal_m": [0.24936048734673388, -0.0038846803055370073, 0.10940050055067393], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5080, "api_command_sequence": 127, "api_accepted_sequence": 127, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.013188823853781655, "joint2": 1.6569240800027532, "joint3": 1.345247108893503, "joint4": -1.2629979886570601, "joint5": 0.0031678150607622833, "joint6": -0.001391835793972927, "gripper": 0.0}, "target_simulation_time": 10.240000000000089, "target_positions": {"joint1": -0.010710988192286965, "joint2": 1.6613220167007474, "joint3": 1.341159459946043, "joint4": -1.2604896055823485, "joint5": 0.0015902985442004234, "joint6": -0.0010153476474778014, "gripper": 0.00808029430440807}, "target_object": {"position_m": [0.24984709815760048, -0.003059940878584669, 0.10470404576951696], "quaternion_wxyz": [0.7097312453536474, -0.006714421135373495, -0.006431984636846676, 0.7044111764383135], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.09508278576567616}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.07304686988712067}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07953839968605018}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05758225353972069}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06019243961006998}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.03831193305646737}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06149468667161822}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.039599502353539144}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07697627061919195}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05502134101876085}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.09641272816235057}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.07435903384028418}], "left_finger_force_n": 0.4037546815451051, "right_finger_force_n": 0.4038635626657449, "bilateral_contact": true, "supported": false, "lift_m": 0.004582676741634498}, "target_sequence": 5120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 128, "source_target": [0.5367320775985718, -1.426452398300171, 1.7607487440109253, 1.1571261882781982, -2.103496789932251, 0.0], "source_tool_goal_m": [0.10627188486693107, -0.2305482258152098, 0.03583789052744271], "target_tool_goal_m": [0.2483873840649131, -0.003914001394142858, 0.1116524168769813], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5120, "api_command_sequence": 128, "api_accepted_sequence": 128, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.013251733074097962, "joint2": 1.6492187892432972, "joint3": 1.346369533379142, "joint4": -1.268059407042651, "joint5": 0.00329423615137236, "joint6": -0.001465936787252748, "gripper": 0.0}, "target_simulation_time": 10.320000000000116, "target_positions": {"joint1": -0.010826435903988858, "joint2": 1.6569792733675013, "joint3": 1.3419225001331392, "joint4": -1.2621560445100595, "joint5": 0.0018125798391045267, "joint6": -0.0011132848907581944, "gripper": 0.008080289131983671}, "target_object": {"position_m": [0.24965112127438222, -0.003129820850264367, 0.10591865821517192], "quaternion_wxyz": [0.7097548189330953, -0.008098412687690956, -0.00745885577688042, 0.7043627461639981], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.09111724248443559}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.07002304821362146}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07885037769932086}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05781497589611905}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06356921306232784}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04259292237213627}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06455616998514675}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.04356661908002053}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07678516740089071}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05574884133472796}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.09212376084506373}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.07101458057384998}], "left_finger_force_n": 0.40396777972796105, "right_finger_force_n": 0.4037951392196997, "bilateral_contact": true, "supported": false, "lift_m": 0.005797289187289459}, "target_sequence": 5160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 129, "source_target": [0.5370796322822571, -1.428470492362976, 1.7516616582870483, 1.1679011583328247, -2.103938341140747, 0.0], "source_tool_goal_m": [0.10647041757679779, -0.23073476784401936, 0.03736595183868911], "target_tool_goal_m": [0.24829376406643405, -0.004164859334551044, 0.11318047818822768], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5160, "api_command_sequence": 129, "api_accepted_sequence": 129, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.013857264560063868, "joint2": 1.6441879265911954, "joint3": 1.3478128783201542, "joint4": -1.2698188868879263, "joint5": 0.0038473201847803932, "joint6": -0.0016514768306813347, "gripper": 0.0}, "target_simulation_time": 10.400000000000142, "target_positions": {"joint1": -0.011090073704136021, "joint2": 1.6510520845941208, "joint3": 1.3428943210362745, "joint4": -1.264916384832479, "joint5": 0.0020590087866357533, "joint6": -0.0012266816530928837, "gripper": 0.008080515928609014}, "target_object": {"position_m": [0.24921252727864338, -0.003235941095497436, 0.10759155957431249], "quaternion_wxyz": [0.7098165613298079, -0.009703403872739427, -0.00872449249358718, 0.7042657001770996], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0879084867509506}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06770128806325719}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0782238470613232}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05806021724096795}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06615056645691716}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0460327983891247}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06690011696588512}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.04677019364165897}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07656221554515076}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.056395922786349785}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08867231475295136}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06845195738058085}], "left_finger_force_n": 0.4040772039625408, "right_finger_force_n": 0.40375272107257687, "bilateral_contact": true, "supported": false, "lift_m": 0.007470190546430028}, "target_sequence": 5200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 130, "source_target": [0.537754476070404, -1.4305860996246338, 1.742976188659668, 1.1780953407287598, -2.1029160022735596, 0.0], "source_tool_goal_m": [0.10673198548982099, -0.23089562325255877, 0.03886617930867063], "target_tool_goal_m": [0.24824738678238853, -0.004463089371965756, 0.1146807056582092], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5200, "api_command_sequence": 130, "api_accepted_sequence": 130, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.014627359488466891, "joint2": 1.6391527519219768, "joint3": 1.349229096174071, "joint4": -1.2712902753008959, "joint5": 0.0044371419960574105, "joint6": -0.0018561277430974555, "gripper": 0.0}, "target_simulation_time": 10.48000000000017, "target_positions": {"joint1": -0.011697629476333023, "joint2": 1.6448305400056717, "joint3": 1.3445106088239052, "joint4": -1.2664418272160933, "joint5": 0.0023457106904385193, "joint6": -0.0013594751918568511, "gripper": 0.008080651754884049}, "target_object": {"position_m": [0.24922159366285213, -0.0034395808612681118, 0.10941595948852659], "quaternion_wxyz": [0.7099766798556251, -0.01208751146671214, -0.010755643515191161, 0.7040392902816581], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08529749748835512}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06593680503885348}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0776434026310162}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.058315171398099754}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06809600468571765}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.04880319700437975}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0686793031922073}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.049375385463306144}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07632009630417226}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05698805044887109}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0858912762274354}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06651891522250002}], "left_finger_force_n": 0.40409207824642196, "right_finger_force_n": 0.4037730268584922, "bilateral_contact": true, "supported": false, "lift_m": 0.009294590460644125}, "target_sequence": 5240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 131, "source_target": [0.5372922420501709, -1.431764841079712, 1.7349176406860352, 1.1885693073272705, -2.1042091846466064, 0.0], "source_tool_goal_m": [0.10665530723189492, -0.23095519916164467, 0.040106667889691555], "target_tool_goal_m": [0.24816424065467085, -0.004416232614560078, 0.11592119423923014], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5240, "api_command_sequence": 131, "api_accepted_sequence": 131, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.014560649265885779, "joint2": 1.634467741380286, "joint3": 1.3499116465230903, "joint4": -1.272095945353696, "joint5": 0.004273120358987363, "joint6": -0.001869340718555956, "gripper": 0.0}, "target_simulation_time": 10.560000000000196, "target_positions": {"joint1": -0.012215127089828335, "joint2": 1.6390651244307766, "joint3": 1.3462181022870183, "joint4": -1.2672863088494037, "joint5": 0.0026099360713169777, "joint6": -0.0014723667589985876, "gripper": 0.008080134414872873}, "target_object": {"position_m": [0.2494190399933408, -0.0036240068007972674, 0.11113435110542678], "quaternion_wxyz": [0.7101092785928373, -0.01458551695081602, -0.012934052768163068, 0.7038215579467774], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08311970954608426}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0645848448760633}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07708146787278981}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05857078806884701}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06954618764988015}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05106266495803604}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07004130352938626}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.051547312596162485}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07607199044344425}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.057556384507071165}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08362286256028334}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06507716256266875}], "left_finger_force_n": 0.40396566297170056, "right_finger_force_n": 0.40391701619901627, "bilateral_contact": true, "supported": false, "lift_m": 0.011012982077544323}, "target_sequence": 5280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 132, "source_target": [0.5384662747383118, -1.433327078819275, 1.7272028923034668, 1.2013436555862427, -2.1034114360809326, 0.0], "source_tool_goal_m": [0.10668101019428398, -0.23051108778600882, 0.041350904191415114], "target_tool_goal_m": [0.24857655760858166, -0.004270720358188645, 0.11716543054095369], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5280, "api_command_sequence": 132, "api_accepted_sequence": 132, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.014193885758991285, "joint2": 1.6302234573433614, "joint3": 1.3513345854811143, "joint4": -1.2716399570390498, "joint5": 0.003945623502071381, "joint6": -0.0018254519222982767, "gripper": 0.0}, "target_simulation_time": 10.640000000000223, "target_positions": {"joint1": -0.012323555862944932, "joint2": 1.6342194660574205, "joint3": 1.3477284341689926, "joint4": -1.2679440160109408, "joint5": 0.002798484983868922, "joint6": -0.001551939687222945, "gripper": 0.008080191342652946}, "target_object": {"position_m": [0.24960631133442043, -0.0036907631003000726, 0.112596324814657], "quaternion_wxyz": [0.7101077148173676, -0.016714146245827365, -0.014824888681863468, 0.7037385120538022], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.08142124599418002}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06368016718737285}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07663486981935225}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05891196906027368}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07065973600472113}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05295770843700936}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07096339281313765}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05325219204803306}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07574533370373589}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.058017548302602584}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08173057328330577}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06398020710845387}], "left_finger_force_n": 0.4042656965029093, "right_finger_force_n": 0.4036892472592688, "bilateral_contact": true, "supported": false, "lift_m": 0.012474955786774544}, "target_sequence": 5320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 133, "source_target": [0.5383859276771545, -1.4363439083099365, 1.7191684246063232, 1.2082349061965942, -2.103672981262207, 0.0], "source_tool_goal_m": [0.10701111092055803, -0.23109627239038225, 0.04296662084980146], "target_tool_goal_m": [0.24817161378476843, -0.0047923595836165565, 0.11878114719934005], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5320, "api_command_sequence": 133, "api_accepted_sequence": 133, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.015554444192694063, "joint2": 1.6243943232984355, "joint3": 1.3522206347925179, "joint4": -1.2738558916714102, "joint5": 0.004969322706712638, "joint6": -0.0021261160152074047, "gripper": 0.0}, "target_simulation_time": 10.72000000000025, "target_positions": {"joint1": -0.012658662621596406, "joint2": 1.6296080083178583, "joint3": 1.3486091899663326, "joint4": -1.2687699046686236, "joint5": 0.003049540819274603, "joint6": -0.0016695543714781462, "gripper": 0.008080538693909092}, "target_object": {"position_m": [0.24959198114310338, -0.0038186610905942392, 0.11387326937156576], "quaternion_wxyz": [0.7101685065594191, -0.0184897969286749, -0.016337109104911582, 0.7035992599248485], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07998118396680212}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06296129325162099}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07620613908406225}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05919987767636432}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07149218296397024}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.054501854136884124}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0716862620739319}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05468718675829452}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07545896797455047}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05844721099416588}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.08017969028011804}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0631509767487847}], "left_finger_force_n": 0.404342531079704, "right_finger_force_n": 0.4036102948298455, "bilateral_contact": true, "supported": false, "lift_m": 0.013751900343683301}, "target_sequence": 5360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 134, "source_target": [0.5403980612754822, -1.4382752180099487, 1.7063771486282349, 1.2221168279647827, -2.1043758392333984, 0.0], "source_tool_goal_m": [0.10758317183507862, -0.2312082055536299, 0.044989454988488845], "target_tool_goal_m": [0.24828760057597205, -0.0053534279786443244, 0.12080398133802744], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5360, "api_command_sequence": 134, "api_accepted_sequence": 134, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.017045058707064922, "joint2": 1.617936806009069, "joint3": 1.3544896924483854, "joint4": -1.2752971301174245, "joint5": 0.005996811577956377, "joint6": -0.0024493982304309506, "gripper": 0.0}, "target_simulation_time": 10.800000000000276, "target_positions": {"joint1": -0.013686313425260051, "joint2": 1.6245086214536555, "joint3": 1.3496431749899473, "joint4": -1.2701571959222198, "joint5": 0.0033880354034150884, "joint6": -0.0018314860199073314, "gripper": 0.008080973253926704}, "target_object": {"position_m": [0.2494549663577864, -0.004131869482673369, 0.11530713526868923], "quaternion_wxyz": [0.7104494522335101, -0.02030610383200366, -0.01782708399032077, 0.7032292890975682], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07879635279719877}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06247389098881945}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07579280144577687}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05948067194980979}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0720414190915632}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05574153447425248}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07217497137280822}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.055866946224684993}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07517731548234229}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05885954108785109}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07893329537444264}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.062602663665418}], "left_finger_force_n": 0.40432667074742057, "right_finger_force_n": 0.40361473320754726, "bilateral_contact": true, "supported": false, "lift_m": 0.015185766240806767}, "target_sequence": 5400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 135, "source_target": [0.5374019742012024, -1.4409743547439575, 1.6998618841171265, 1.235489845275879, -2.1030118465423584, 0.0], "source_tool_goal_m": [0.10669645513894184, -0.23098311983123482, 0.046276109781472605], "target_tool_goal_m": [0.24815457366736954, -0.004464142329787278, 0.12209063613101118], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5400, "api_command_sequence": 135, "api_accepted_sequence": 135, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.01482192843470176, "joint2": 1.6132669954449925, "joint3": 1.3553385038075811, "joint4": -1.276419472457256, "joint5": 0.00416911477213589, "joint6": -0.0020363440717108905, "gripper": 0.0}, "target_simulation_time": 10.880000000000303, "target_positions": {"joint1": -0.014013326181457475, "joint2": 1.6189295113613904, "joint3": 1.3509767236878008, "joint4": -1.2712655509338835, "joint5": 0.0035590506003794335, "joint6": -0.001890116967434708, "gripper": 0.008079925923593238}, "target_object": {"position_m": [0.24944958472485154, -0.004254765764891956, 0.11691075293238377], "quaternion_wxyz": [0.7105238896275361, -0.022441554063278534, -0.019760644822030445, 0.7030374782584498], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0777865548857534}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06220288342481531}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07538896335023207}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05981313817790229}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07239391508669045}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05682748982094886}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07246336490394764}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.056889978117505825}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07486028636685649}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.059279438031674535}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07785836899525739}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06226778568217754}], "left_finger_force_n": 0.4044129447463424, "right_finger_force_n": 0.4036192220974194, "bilateral_contact": true, "supported": false, "lift_m": 0.016789383904501312}, "target_sequence": 5440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 136, "source_target": [0.538930356502533, -1.4427683353424072, 1.6909542083740234, 1.243246078491211, -2.1045873165130615, 0.0], "source_tool_goal_m": [0.10726753271978423, -0.23129397512601524, 0.04779166829580181], "target_tool_goal_m": [0.24808988163503648, -0.005099931044719089, 0.1236061946453404], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5440, "api_command_sequence": 136, "api_accepted_sequence": 136, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.016562984325093524, "joint2": 1.6079113102093945, "joint3": 1.3565273782848333, "joint4": -1.2774285558486125, "joint5": 0.005284301422100271, "joint6": -0.002345502869501232, "gripper": 0.0}, "target_simulation_time": 10.96000000000033, "target_positions": {"joint1": -0.01409822094280695, "joint2": 1.613329440090642, "joint3": 1.352372419475342, "joint4": -1.2722180206240106, "joint5": 0.0037614988864599816, "joint6": -0.00198133621375414, "gripper": 0.00808013876136463}, "target_object": {"position_m": [0.24948916442483574, -0.004313727390922773, 0.11852950645079448], "quaternion_wxyz": [0.7104797546846828, -0.024669144163925915, -0.0217784567658154, 0.702947829024539], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07690678739281179}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.061942301076668344}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07504066166756002}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06008199953659551}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07270917302451982}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05775755385752993}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07271861407604588}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05775967549419308}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07458461520418018}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05962006060976759}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07691828310234555}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06194647113013803}], "left_finger_force_n": 0.40443847655568543, "right_finger_force_n": 0.4035477196166703, "bilateral_contact": true, "supported": false, "lift_m": 0.018408137422912016}, "target_sequence": 5480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 137, "source_target": [0.5388858318328857, -1.4451485872268677, 1.6822818517684937, 1.2539401054382324, -2.105193853378296, 0.0], "source_tool_goal_m": [0.10731020875195586, -0.2313815834599392, 0.04935621178591587], "target_tool_goal_m": [0.24802669398962565, -0.005171913545874124, 0.12517073813545446], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5480, "api_command_sequence": 137, "api_accepted_sequence": 137, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.016685807905335887, "joint2": 1.6023839003871698, "joint3": 1.3577565918164254, "joint4": -1.278452322544209, "joint5": 0.005512652883757736, "joint6": -0.0024434542895002027, "gripper": 0.0}, "target_simulation_time": 11.040000000000356, "target_positions": {"joint1": -0.014191407781546872, "joint2": 1.6077679352347023, "joint3": 1.3536869215966518, "joint4": -1.2732049819318905, "joint5": 0.003983684576272356, "joint6": -0.0020802609130316095, "gripper": 0.008080308858083621}, "target_object": {"position_m": [0.24949020196549132, -0.004378642774521667, 0.12012402430007432], "quaternion_wxyz": [0.7104319995927069, -0.026846797890131127, -0.023738646428251017, 0.7028528295905985], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07618509680905525}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06184487899449214}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07470336326532004}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06036756414269179}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07285193005922368}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.058521511008768484}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07281883738420519}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05848176376161703}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07430060075713217}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05995924235005123}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07615353644780631}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0618066787195219}], "left_finger_force_n": 0.40447434427955137, "right_finger_force_n": 0.4035206594203338, "bilateral_contact": true, "supported": false, "lift_m": 0.02000265527219186}, "target_sequence": 5520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 138, "source_target": [0.538810133934021, -1.447288990020752, 1.6736676692962646, 1.2645623683929443, -2.1042633056640625, 0.0], "source_tool_goal_m": [0.10733059433942058, -0.23145108025444144, 0.050872044223980964], "target_tool_goal_m": [0.24797145008243965, -0.00521680744381992, 0.12668657057351956], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5520, "api_command_sequence": 138, "api_accepted_sequence": 138, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.016728476238572418, "joint2": 1.5970055050649905, "joint3": 1.358938931306649, "joint4": -1.2793687193406513, "joint5": 0.005701973076047565, "joint6": -0.00253356035934102, "gripper": 0.0}, "target_simulation_time": 11.120000000000383, "target_positions": {"joint1": -0.014283130828310012, "joint2": 1.6022838955117853, "joint3": 1.3548941743223573, "joint4": -1.2741729199367844, "joint5": 0.0042022720146416975, "joint6": -0.0021774073400868416, "gripper": 0.008080368023405272}, "target_object": {"position_m": [0.2494591970370055, -0.004442222446745841, 0.12167724755940598], "quaternion_wxyz": [0.7103800509430668, -0.028961624276023792, -0.02564366232111871, 0.7027544451116484], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.075565741522556}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.061824377273283285}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0743852976692798}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06064729677686391}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07291020634198195}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.059176322556898586}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07284130557851046}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05910115419537357}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07402186991868617}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06027843963267789}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07549803731293174}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0617504212812788}], "left_finger_force_n": 0.40450924214086353, "right_finger_force_n": 0.40349122791945863, "bilateral_contact": true, "supported": false, "lift_m": 0.02155587853152352}, "target_sequence": 5560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 139, "source_target": [0.5413640141487122, -1.448764443397522, 1.6651312112808228, 1.2751268148422241, -2.1046602725982666, 0.0027343749534338713], "source_tool_goal_m": [0.10780715507656717, -0.23117687876297408, 0.0522568176722563], "target_tool_goal_m": [0.24840113301696798, -0.005544541155337998, 0.12807134402179488], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5560, "api_command_sequence": 139, "api_accepted_sequence": 139, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.017516275953612465, "joint2": 1.5925094178826145, "joint3": 1.3606617744219212, "joint4": -1.2788622799381737, "joint5": 0.00638638205031781, "joint6": -0.0027548218903647387, "gripper": 0.0001465781225037894}, "target_simulation_time": 11.20000000000041, "target_positions": {"joint1": -0.014638256221054474, "joint2": 1.597274282861729, "joint3": 1.3564017434291396, "joint4": -1.274927973648506, "joint5": 0.004460514344701693, "joint6": -0.002297600234171163, "gripper": 0.008082106143137776}, "target_object": {"position_m": [0.24954619258229047, -0.0045771093784733735, 0.12318289698801371], "quaternion_wxyz": [0.7104025411431751, -0.031102180905421058, -0.027542887036368924, 0.7025683406288301], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07391665994941435}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.060740399343266506}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07296875451598055}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05979503819902286}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07178416600168189}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05861357626181044}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07167668801908177}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05850018408343891}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07262475244128258}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05944575902747164}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07381012518219597}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06062796611926901}], "left_finger_force_n": 0.3978185942711766, "right_finger_force_n": 0.39668547487273986, "bilateral_contact": true, "supported": false, "lift_m": 0.02306152796013125}, "target_sequence": 5600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 140, "source_target": [0.5416813492774963, -1.452244520187378, 1.6565055847167969, 1.2858208417892456, -2.105787754058838, 0.004101562313735485], "source_tool_goal_m": [0.10792571550668206, -0.23123717532549498, 0.05402468619928584], "target_tool_goal_m": [0.2483915452038703, -0.005674924664158782, 0.1298392125488244], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5600, "api_command_sequence": 140, "api_accepted_sequence": 140, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.017853844330309173, "joint2": 1.5867281354601326, "joint3": 1.3624846128253094, "joint4": -1.2801054189029903, "joint5": 0.006635518916283552, "joint6": -0.002872243944227218, "gripper": 0.00021986717751515766}, "target_simulation_time": 11.280000000000436, "target_positions": {"joint1": -0.015187541574774017, "joint2": 1.592376070468635, "joint3": 1.358064596098429, "joint4": -1.2757023107246932, "joint5": 0.004735110826412599, "joint6": -0.0024207010621637433, "gripper": 0.008083095696415014}, "target_object": {"position_m": [0.2496628379137722, -0.004766904203142623, 0.12469644630094748], "quaternion_wxyz": [0.7104891095545408, -0.03325944687691584, -0.029440752835406998, 0.7023049739752113], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07278589939731844}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.060160952171475}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07202645603126995}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.059403439078783156}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07107733765033183}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05845670045059191}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0709898723465417}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05836347809610355}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07174949312438865}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.059121202324033936}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0726992043769114}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06006850978866792}], "left_finger_force_n": 0.39391078477977026, "right_finger_force_n": 0.39299176005664715, "bilateral_contact": true, "supported": false, "lift_m": 0.024575077273065016}, "target_sequence": 5640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 141, "source_target": [0.5413291454315186, -1.454529881477356, 1.6478914022445679, 1.2964431047439575, -2.103665828704834, 0.0], "source_tool_goal_m": [0.107875054229067, -0.23130829491919735, 0.05557436199007258], "target_tool_goal_m": [0.2483078249895471, -0.005656037794657505, 0.13138888833961115], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5640, "api_command_sequence": 141, "api_accepted_sequence": 141, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.017849321762410143, "joint2": 1.5815528687096045, "joint3": 1.363959215179833, "joint4": -1.2813205413717876, "joint5": 0.0065414268523830334, "joint6": -0.0028971599036771126, "gripper": 0.0}, "target_simulation_time": 11.360000000000463, "target_positions": {"joint1": -0.015515453646196857, "joint2": 1.5871711884265742, "joint3": 1.3596307143551627, "joint4": -1.276549441280882, "joint5": 0.004980735950985201, "joint6": -0.0025252452941922116, "gripper": 0.008080914074483442}, "target_object": {"position_m": [0.2497228281942491, -0.004899471576153479, 0.12626306013270155], "quaternion_wxyz": [0.7104992261990086, -0.03545344014278034, -0.031400662169755116, 0.702102486513155], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0739938880591709}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06189667940412204}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07338937163879515}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.061293664393029225}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07263384565210386}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06053999509753708}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07253864783601165}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.060439282113804435}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07314333076306374}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06104248466112884}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07389930364399253}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.061796586989829955}], "left_finger_force_n": 0.4037474442447583, "right_finger_force_n": 0.40285963600783115, "bilateral_contact": true, "supported": false, "lift_m": 0.026141691104819093}, "target_sequence": 5680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 142, "source_target": [0.5387385487556458, -1.4568723440170288, 1.639354944229126, 1.3069696426391602, -2.1053762435913086, 0.0], "source_tool_goal_m": [0.10740148809031132, -0.2315952873746672, 0.0571252230515818], "target_tool_goal_m": [0.24786768646133694, -0.005335880348093763, 0.13293974940112038], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5680, "api_command_sequence": 142, "api_accepted_sequence": 142, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.01699088406716972, "joint2": 1.575854246920333, "joint3": 1.364812388148198, "joint4": -1.283305624291173, "joint5": 0.005995982517087343, "joint6": -0.002791100166276991, "gripper": 0.0}, "target_simulation_time": 11.44000000000049, "target_positions": {"joint1": -0.015580478779384448, "joint2": 1.5815996787642417, "joint3": 1.36084892652258, "joint4": -1.2779753818381914, "joint5": 0.005124401329275772, "joint6": -0.002586529566405567, "gripper": 0.008080562195129554}, "target_object": {"position_m": [0.24954516690200215, -0.004941188643378206, 0.1278519482717499], "quaternion_wxyz": [0.7104324727908756, -0.037413145369357775, -0.033213222663142146, 0.7019849286118203], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07377403532540297}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06220288699357561}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07325626110304724}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06168634405432171}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07260913063323465}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06104073866788957}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07244021226957444}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06086687768504821}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07295812575940729}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06138357767440838}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07360560453001871}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06202952554514399}], "left_finger_force_n": 0.4045693967774717, "right_finger_force_n": 0.40328392346360104, "bilateral_contact": true, "supported": false, "lift_m": 0.02773057924386743}, "target_sequence": 5720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 143, "source_target": [0.5397568345069885, -1.456642508506775, 1.6309155225753784, 1.3173766136169434, -2.107457160949707, 0.004101562313735485], "source_tool_goal_m": [0.10751272111482828, -0.2313465089690155, 0.058190573404787574], "target_tool_goal_m": [0.24813546216083598, -0.0053421407731129265, 0.13400509975432617], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5720, "api_command_sequence": 143, "api_accepted_sequence": 143, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.016948102618898453, "joint2": 1.572210987856177, "joint3": 1.3659497558034555, "joint4": -1.2828540592724413, "joint5": 0.006065796585605555, "joint6": -0.002833666034139112, "gripper": 0.00021986717751515766}, "target_simulation_time": 11.520000000000516, "target_positions": {"joint1": -0.0156302476618886, "joint2": 1.5764339541679733, "joint3": 1.3619944931549082, "joint4": -1.2788281203166332, "joint5": 0.005243202783897958, "joint6": -0.0026388968292826906, "gripper": 0.008082628168027265}, "target_object": {"position_m": [0.24947695079028845, -0.0049738218099900245, 0.12932076812694715], "quaternion_wxyz": [0.7103551783846064, -0.03938985707194595, -0.03506173303440394, 0.7018651113844095], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07175734662512905}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06067295449459234}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0713352793760399}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.060251824747565824}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07080775176149755}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05972546010952143}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07062410743521644}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05953693607229658}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07104630759709296}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05995820992032508}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0715741140362287}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06048484956322683}], "left_finger_force_n": 0.3945506171143461, "right_finger_force_n": 0.39322452462438656, "bilateral_contact": true, "supported": false, "lift_m": 0.029199399099064688}, "target_sequence": 5760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 144, "source_target": [0.5401599407196045, -1.459958791732788, 1.6214550733566284, 1.3290150165557861, -2.1053028106689453, 0.0], "source_tool_goal_m": [0.1076052937202553, -0.23134097252368702, 0.06004719190013243], "target_tool_goal_m": [0.2481756679136961, -0.005423945088590385, 0.13586171824967103], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5760, "api_command_sequence": 144, "api_accepted_sequence": 144, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.017122279187275893, "joint2": 1.5661683354425173, "joint3": 1.3679269974868447, "joint4": -1.2838364140401315, "joint5": 0.0062720912934609175, "joint6": -0.0029090989288406534, "gripper": 0.0}, "target_simulation_time": 11.600000000000543, "target_positions": {"joint1": -0.015683502055467126, "joint2": 1.5717120921094097, "joint3": 1.3634450234598186, "joint4": -1.2796021015670436, "joint5": 0.005370330290828591, "joint6": -0.0026953979120014184, "gripper": 0.008081075195010624}, "target_object": {"position_m": [0.24950827539501613, -0.0050122486315691646, 0.1307491628548319], "quaternion_wxyz": [0.7102730962010236, -0.04134419380672676, -0.03688324829965159, 0.7017424117483201], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07302757422093413}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.062396690256543694}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07268488536549962}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.062054744115153035}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07225656193999919}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06162734347460635}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07206077950278611}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.061426898194187424}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07240358305313856}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06176896658778596}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07283212499922773}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06219658397856357}], "left_finger_force_n": 0.404047799372736, "right_finger_force_n": 0.40268893631568936, "bilateral_contact": true, "supported": false, "lift_m": 0.03062779382694944}, "target_sequence": 5800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 145, "source_target": [0.5417943000793457, -1.462526559829712, 1.6127827167510986, 1.3397090435028076, -2.105701208114624, 0.0027343749534338713], "source_tool_goal_m": [0.10789943597782657, -0.23114678376323194, 0.06166267334223277], "target_tool_goal_m": [0.24846348801570545, -0.005616746197508362, 0.13747719969177136], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5800, "api_command_sequence": 145, "api_accepted_sequence": 145, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0175825554425048, "joint2": 1.561306211571116, "joint3": 1.370107031166133, "joint4": -1.2840822578157007, "joint5": 0.006673679735519283, "joint6": -0.003038630271995197, "gripper": 0.0001465781225037894}, "target_simulation_time": 11.68000000000057, "target_positions": {"joint1": -0.015750274417789804, "joint2": 1.5668951025403972, "joint3": 1.3653177748428316, "joint4": -1.2803170546863898, "joint5": 0.005529616314225546, "joint6": -0.0027664939836488105, "gripper": 0.008082014643203406}, "target_object": {"position_m": [0.2496393850466656, -0.005060262708068164, 0.13229537438182457], "quaternion_wxyz": [0.7101740892954195, -0.0435114745030457, -0.038890956180185156, 0.7016031698954781], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07170794931843727}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.061511537978707835}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07143503004075931}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06123917723963628}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07109390435410815}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06089874633192006}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07088458020460503}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06068495870334849}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0711575964767928}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06095742148287337}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07149889014121025}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06129801988602628}], "left_finger_force_n": 0.3978863452635689, "right_finger_force_n": 0.3964814668948562, "bilateral_contact": true, "supported": false, "lift_m": 0.0321740053539421}, "target_sequence": 5840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 146, "source_target": [0.5410037636756897, -1.4642261266708374, 1.6041685342788696, 1.3503313064575195, -2.1042258739471436, 0.009570312686264515], "source_tool_goal_m": [0.10770935692823126, -0.23116621293358466, 0.06311221948424595], "target_tool_goal_m": [0.24837362690783535, -0.005451841762143992, 0.13892674583378453], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5840, "api_command_sequence": 146, "api_accepted_sequence": 146, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.017084208335689504, "joint2": 1.5565235805665996, "joint3": 1.371547810088066, "joint4": -1.2851407719539034, "joint5": 0.006454858749017538, "joint6": -0.0030091428294708247, "gripper": 0.0005130234474848424}, "target_simulation_time": 11.760000000000597, "target_positions": {"joint1": -0.015800827237498333, "joint2": 1.5619101260381971, "joint3": 1.3672234694137189, "joint4": -1.2810457082642341, "joint5": 0.005651385563599155, "joint6": -0.0028199777154076146, "gripper": 0.00808599431552846}, "target_object": {"position_m": [0.2497650778146528, -0.005095695093156645, 0.13389338762109337], "quaternion_wxyz": [0.7100650522778016, -0.04573897235353425, -0.040985420290573144, 0.7014526094223115], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0685955758441235}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05884025647467636}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06835389178889507}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05859902593127886}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06805180428123199}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.058297502775630845}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06783281553885935}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05807431505896324}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06807458637187586}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.058315636727196564}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06837681739432196}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05861730375512263}], "left_finger_force_n": 0.38073805709583664, "right_finger_force_n": 0.37929147484633957, "bilateral_contact": true, "supported": false, "lift_m": 0.03377201859321091}, "target_sequence": 5880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 147, "source_target": [0.5407893061637878, -1.466304898262024, 1.5956320762634277, 1.3608957529067993, -2.10638427734375, 0.0], "source_tool_goal_m": [0.10762753344751197, -0.23111093079933293, 0.0646211054808668], "target_tool_goal_m": [0.24839263355043212, -0.005356663016992858, 0.1404356318304054], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5880, "api_command_sequence": 147, "api_accepted_sequence": 147, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.016782813483458656, "joint2": 1.5516853043078858, "joint3": 1.3732180674007222, "joint4": -1.2859212528478174, "joint5": 0.006341133635224207, "joint6": -0.0030000556673537514, "gripper": 0.0}, "target_simulation_time": 11.840000000000623, "target_positions": {"joint1": -0.01583768406096931, "joint2": 1.5568816024955203, "joint3": 1.368950930875581, "joint4": -1.2817972244753952, "joint5": 0.005740029567885682, "joint6": -0.002858850864299598, "gripper": 0.008082184688174461}, "target_object": {"position_m": [0.24983007936621568, -0.005124781993657035, 0.1354630884195183], "quaternion_wxyz": [0.7099520828884879, -0.04789772259916314, -0.043036843237332395, 0.7012999916556936], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07209361752322095}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0627416950560779}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07188048223592865}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06252896122445516}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07161407731627799}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06226305624003069}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07139000408377426}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06203496004340912}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0716032171049698}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.062247774953472425}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0718697475123914}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06251380583705538}], "left_finger_force_n": 0.4031218895959913, "right_finger_force_n": 0.40165950953507235, "bilateral_contact": true, "supported": false, "lift_m": 0.03534171939163583}, "target_sequence": 5920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 148, "source_target": [0.5413781404495239, -1.4682761430740356, 1.5870064496994019, 1.3715897798538208, -2.105872392654419, 0.0], "source_tool_goal_m": [0.10768158049115444, -0.23095741592827454, 0.0661234339274657], "target_tool_goal_m": [0.24855232463791962, -0.005347299787146888, 0.14193796027700428], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5920, "api_command_sequence": 148, "api_accepted_sequence": 148, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.01671860431686223, "joint2": 1.5469878817009042, "joint3": 1.375036309164155, "joint4": -1.2862453537032248, "joint5": 0.006362276056674231, "joint6": -0.0030212131893029223, "gripper": 0.0}, "target_simulation_time": 11.92000000000065, "target_positions": {"joint1": -0.015869901155070282, "joint2": 1.5520277886698535, "joint3": 1.3706975985231895, "joint4": -1.282500275465151, "joint5": 0.005817464463572548, "joint6": -0.0028928785088412857, "gripper": 0.008080887296224729}, "target_object": {"position_m": [0.2499047322897072, -0.005149662162577778, 0.13699789450769692], "quaternion_wxyz": [0.7098347592396393, -0.05001225670947828, -0.045053229740704984, 0.701144489562571], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07210624714334044}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0631428870584859}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07192317643964911}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06296014813773987}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07169434850886543}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06273173361063647}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07146260179194025}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.062496116040735655}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0716457412187589}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06267892617804652}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07187467591015181}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06290744793212558}], "left_finger_force_n": 0.40455854089871723, "right_finger_force_n": 0.4030655090717587, "bilateral_contact": true, "supported": false, "lift_m": 0.03687652547981446}, "target_sequence": 5960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 149, "source_target": [0.5430079698562622, -1.4701597690582275, 1.5783922672271729, 1.3822120428085327, -2.107320547103882, 0.0027343749534338713], "source_tool_goal_m": [0.10792303501579109, -0.23067462028617455, 0.06760896445683151], "target_tool_goal_m": [0.24890043196522788, -0.0054586641324537765, 0.1434234908063701], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 5960, "api_command_sequence": 149, "api_accepted_sequence": 149, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.016975432022769254, "joint2": 1.5426434012799424, "joint3": 1.3771539902930354, "joint4": -1.2860872152627414, "joint5": 0.006589776146696209, "joint6": -0.0030955112920500044, "gripper": 0.0001465781225037894}, "target_simulation_time": 12.000000000000677, "target_positions": {"joint1": -0.015908832998679037, "joint2": 1.5475150248115082, "joint3": 1.3726764368353854, "joint4": -1.2830818829130863, "joint5": 0.005910501446342645, "joint6": -0.0029342275279420444, "gripper": 0.008081989316376204}, "target_object": {"position_m": [0.2500623255141979, -0.005178767926348436, 0.13850870316522276], "quaternion_wxyz": [0.7097105368974089, -0.052134796245381816, -0.047066304292426836, 0.7009833663058601], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07079577519769507}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06220073069551147}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0706437705034576}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06204898522091958}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07045377166524718}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06185930953847948}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07021437954759359}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.061616185716208895}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07036644320619355}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06176799194169488}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0705565297820259}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06195775585706214}], "left_finger_force_n": 0.39800234282131036, "right_finger_force_n": 0.396479286050779, "bilateral_contact": true, "supported": false, "lift_m": 0.0383873341373403}, "target_sequence": 6000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 150, "source_target": [0.5453386306762695, -1.4710804224014282, 1.5713144540786743, 1.3927385807037354, -2.107069492340088, 0.0054687499068677425], "source_tool_goal_m": [0.10814139334973809, -0.23007147296192057, 0.06869740479980561], "target_tool_goal_m": [0.24953013031390733, -0.005427326052191453, 0.14451193114934419], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6000, "api_command_sequence": 150, "api_accepted_sequence": 150, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.016831154397385622, "joint2": 1.5398514045501708, "joint3": 1.3791641850543626, "joint4": -1.284895820853721, "joint5": 0.006557776033499884, "joint6": -0.0031046755348782176, "gripper": 0.0002931562450075788}, "target_simulation_time": 12.080000000000704, "target_positions": {"joint1": -0.015942888686561314, "joint2": 1.5437467900960962, "joint3": 1.3749328146646287, "joint4": -1.2833967190536992, "joint5": 0.005992217125013225, "joint6": -0.0029703068716143417, "gripper": 0.008083812184435069}, "target_object": {"position_m": [0.25036465224912346, -0.005206466477817636, 0.1399164824125881], "quaternion_wxyz": [0.7095848534984824, -0.05418542778044962, -0.049017357730155794, 0.7008213565117288], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06941119656918458}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06117784583085298}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06927310748074778}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06103997783060384}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06910050178321188}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06086764781002403}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06885610449394144}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.060619707366940466}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06899424725345064}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.060757630614745387}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06916693134162866}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.060930039629804374}], "left_finger_force_n": 0.3908702773046251, "right_finger_force_n": 0.38932466070051097, "bilateral_contact": true, "supported": false, "lift_m": 0.03979511338470565}, "target_sequence": 6040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 151, "source_target": [0.5438107252120972, -1.4730256795883179, 1.5626177787780762, 1.4031455516815186, -2.107064723968506, 0.0], "source_tool_goal_m": [0.10780910376535612, -0.2301543158485939, 0.07020985928314569], "target_tool_goal_m": [0.24932873519688944, -0.0051576245103316844, 0.14602438563268427], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6040, "api_command_sequence": 151, "api_accepted_sequence": 151, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.01608348491289579, "joint2": 1.535201480319131, "joint3": 1.3809129280872474, "joint4": -1.2865393231128928, "joint5": 0.006118835298507924, "joint6": -0.0030018052554153757, "gripper": 0.0}, "target_simulation_time": 12.16000000000073, "target_positions": {"joint1": -0.015951245093482842, "joint2": 1.5401800071019232, "joint3": 1.376782166980946, "joint4": -1.2838287286734724, "joint5": 0.006013348302946483, "joint6": -0.002978892948474989, "gripper": 0.008081491447369249}, "target_object": {"position_m": [0.25055411005327183, -0.005217250731998863, 0.1411827085937014], "quaternion_wxyz": [0.7094717688594783, -0.05595743303170949, -0.050739786253643795, 0.7006739962142443], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07140613387514257}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06352610098949388}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0712646446587096}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06338483494548607}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07108778923466182}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06320825779994102}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0708417828851875}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06295890041798824}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07098332608945349}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06310022206637977}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07116026116438973}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0632768795092326}], "left_finger_force_n": 0.40387776150343496, "right_finger_force_n": 0.4023213721326313, "bilateral_contact": true, "supported": false, "lift_m": 0.04106133956581895}, "target_sequence": 6080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 152, "source_target": [0.5420892238616943, -1.4751142263412476, 1.5547595024108887, 1.4127000570297241, -2.1057698726654053, 0.004101562313735485], "source_tool_goal_m": [0.10743527735296807, -0.23025299913359243, 0.0716363561400024], "target_tool_goal_m": [0.2490971937567852, -0.004856294603925099, 0.14745088248954097], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6080, "api_command_sequence": 152, "api_accepted_sequence": 152, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.015274149860505598, "joint2": 1.530719973686396, "joint3": 1.3824742996717394, "joint4": -1.2881357564875864, "joint5": 0.005596790216355991, "joint6": -0.0028655612330516418, "gripper": 0.00021986717751515766}, "target_simulation_time": 12.240000000000757, "target_positions": {"joint1": -0.015930307422258663, "joint2": 1.536173008447138, "joint3": 1.3781304026273835, "joint4": -1.2844691222927371, "joint5": 0.005965093339416156, "joint6": -0.0029562828879953055, "gripper": 0.008082932554610673}, "target_object": {"position_m": [0.2505535517643027, -0.0052027379501655415, 0.14243207143471678], "quaternion_wxyz": [0.7093610445805785, -0.057602444726460936, -0.05238881475764699, 0.7005314260483775], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06968485054804274}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06215041887523479}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06954143872796739}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0620072192944843}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06936218009102114}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.061828225281512696}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06911459245071325}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06157739340776803}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06925805986648896}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.061720650091232995}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06943740024857106}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06189972638253561}], "left_finger_force_n": 0.39457433281826304, "right_finger_force_n": 0.3930078224473099, "bilateral_contact": true, "supported": false, "lift_m": 0.04231070240683432}, "target_sequence": 6120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 153, "source_target": [0.5436519980430603, -1.476847529411316, 1.5475091934204102, 1.4226667881011963, -2.105027675628662, 0.00820312462747097], "source_tool_goal_m": [0.10757234840409136, -0.22983632973078993, 0.0729057132423544], "target_tool_goal_m": [0.24952696877654204, -0.004822158396895761, 0.14872023959189298], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6120, "api_command_sequence": 153, "api_accepted_sequence": 153, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.015180645357270971, "joint2": 1.5272601677214388, "joint3": 1.3845052058607734, "joint4": -1.2876008503970569, "joint5": 0.005500938583554458, "joint6": -0.0028310017726083433, "gripper": 0.0004397343550303153}, "target_simulation_time": 12.320000000000784, "target_positions": {"joint1": -0.015903579296267026, "joint2": 1.5321927675637466, "joint3": 1.3798090165399508, "joint4": -1.2850054030828333, "joint5": 0.0059023790381442075, "joint6": -0.002927882102137235, "gripper": 0.008085531652729626}, "target_object": {"position_m": [0.25063893109441926, -0.005184139724529988, 0.1437542229743519], "quaternion_wxyz": [0.7092343261345989, -0.059380631903451574, -0.05417942956389166, 0.7003750428158323], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06773384661715533}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.060514661772205915}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06760651432376195}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06038750473857627}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06744735363697273}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.060228562619412}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06720000061544426}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05997802181347388}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06732738449061153}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06010523151052428}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06748661899788848}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06026424778790915}], "left_finger_force_n": 0.3839184437080842, "right_finger_force_n": 0.38236150521585155, "bilateral_contact": true, "supported": false, "lift_m": 0.04363285394646943}, "target_sequence": 6160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 154, "source_target": [0.542168915271759, -1.4785467386245728, 1.5402581691741943, 1.4318064451217651, -2.105008363723755, 0.0], "source_tool_goal_m": [0.10720487310617163, -0.22984048576119384, 0.07417685491328298], "target_tool_goal_m": [0.24938352190633153, -0.004490654768119159, 0.14999138126282158], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6160, "api_command_sequence": 154, "api_accepted_sequence": 154, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.01431765775692409, "joint2": 1.523141655709883, "joint3": 1.3858081103057103, "joint4": -1.2886053442422536, "joint5": 0.0048809653822186015, "joint6": -0.0026544795316181787, "gripper": 0.0}, "target_simulation_time": 12.40000000000081, "target_positions": {"joint1": -0.015849881339136347, "joint2": 1.528217042910153, "joint3": 1.3815164621244052, "joint4": -1.2855515526934609, "joint5": 0.005776690801508848, "joint6": -0.002870825096155215, "gripper": 0.008082036091345108}, "target_object": {"position_m": [0.2507286066389071, -0.00515084359784025, 0.14508597863851214], "quaternion_wxyz": [0.7091014528041629, -0.06114743571213509, -0.05600597719181183, 0.7002138610850587], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07082577295955726}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06391778988203886}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07069221857454878}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06378441947946976}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07052528096428494}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06361771131148149}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07028448730434272}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06337390948727623}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.07041809452328551}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06350733388791714}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07058510889807364}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06367411920388281}], "left_finger_force_n": 0.4033631931713811, "right_finger_force_n": 0.40184305330477804, "bilateral_contact": true, "supported": false, "lift_m": 0.044964609610629674}, "target_sequence": 6200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 155, "source_target": [0.5437174439430237, -1.4797922372817993, 1.533812165260315, 1.4402942657470703, -2.1051406860351562, 0.0], "source_tool_goal_m": [0.10736818027394891, -0.22947111440438464, 0.07525488664276768], "target_tool_goal_m": [0.24978039801630442, -0.004498277546681961, 0.15106941299230625], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6200, "api_command_sequence": 155, "api_accepted_sequence": 155, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.014367670000227527, "joint2": 1.520256724177594, "joint3": 1.3875713996848658, "joint4": -1.2879998515923166, "joint5": 0.004822057237835855, "joint6": -0.002615843770302267, "gripper": 0.0}, "target_simulation_time": 12.480000000000837, "target_positions": {"joint1": -0.015795991751422257, "joint2": 1.524546655251813, "joint3": 1.383264773328524, "joint4": -1.285968108731469, "joint5": 0.005649352810869624, "joint6": -0.0028137640588174677, "gripper": 0.008080823211152272}, "target_object": {"position_m": [0.2508591078454119, -0.005116428663401048, 0.1463594018118884], "quaternion_wxyz": [0.7089666179281853, -0.06286381863702978, -0.057784610814145446, 0.7000538648724807], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0708665352417157}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06424107260738894}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.070752693634748}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06412738166485057}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.07061039551169926}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06398527150182334}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07037225266341864}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06374416925227944}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0704861413235989}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0638579080030621}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.07062850602354051}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06400008494560004}], "left_finger_force_n": 0.4045833501622258, "right_finger_force_n": 0.40308906221149965, "bilateral_contact": true, "supported": false, "lift_m": 0.04623803278400593}, "target_sequence": 6240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 156, "source_target": [0.5435788035392761, -1.4814202785491943, 1.5270808935165405, 1.4481760263442993, -2.106461524963379, 0.0068359375], "source_tool_goal_m": [0.10729426528871813, -0.229400758309674, 0.07644945101553988], "target_tool_goal_m": [0.24981607392230093, -0.004404537430117811, 0.15226397736507846], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6240, "api_command_sequence": 156, "api_accepted_sequence": 156, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.014160796820292157, "joint2": 1.5166895470062145, "joint3": 1.3890945105062482, "joint4": -1.288506361747414, "joint5": 0.004591948718046468, "joint6": -0.0025315009103677555, "gripper": 0.0003664453125}, "target_simulation_time": 12.560000000000864, "target_positions": {"joint1": -0.015737694192091454, "joint2": 1.5212222884930162, "joint3": 1.3849194149831698, "joint4": -1.2863570772115924, "joint5": 0.0055119482083694285, "joint6": -0.0027520732889631224, "gripper": 0.008084128013492132}, "target_object": {"position_m": [0.25098826844511235, -0.005076327236377102, 0.14753155873622756], "quaternion_wxyz": [0.7088391555295168, -0.06443173109838482, -0.05942565676919478, 0.6999029896588649], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06793543347169502}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0615912483193827}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06783120041081088}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.061487142186333096}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06770091220732746}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06135701234648383}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0674657352843911}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.061118997368982575}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06757001190203095}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06122314770631807}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06770036078732539}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06135333844496672}], "left_finger_force_n": 0.387902948942033, "right_finger_force_n": 0.3864315914940148, "bilateral_contact": true, "supported": false, "lift_m": 0.047410189708345096}, "target_sequence": 6280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 157, "source_target": [0.5458358526229858, -1.4817842245101929, 1.518945574760437, 1.4530445337295532, -2.104604482650757, 0.01503906212747097], "source_tool_goal_m": [0.10797578851188078, -0.2296034350433296, 0.0776470506864277], "target_tool_goal_m": [0.24989141716505409, -0.0050993158136833795, 0.1534615770359663], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6280, "api_command_sequence": 157, "api_accepted_sequence": 157, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.016077505743691267, "joint2": 1.5132855109012076, "joint3": 1.3907738944751995, "joint4": -1.2889412241845117, "joint5": 0.00576593027494398, "joint6": -0.0028178360229965727, "gripper": 0.0008061796675303153}, "target_simulation_time": 12.64000000000089, "target_positions": {"joint1": -0.01574161145306736, "joint2": 1.5179990875053688, "joint3": 1.3864314002189293, "joint4": -1.2867635558957922, "joint5": 0.0055190742291513295, "joint6": -0.0027567300317012937, "gripper": 0.008089335718803693}, "target_object": {"position_m": [0.25107847173478903, -0.005075843762345658, 0.14864556557625863], "quaternion_wxyz": [0.7087157191824286, -0.06595671363933883, -0.06091747994016472, 0.6997576737323934], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06421991957473727}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.058100010987796005}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06417426457127184}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.058054404673336}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0641171963394671}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05799739725235519}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06387799552574254}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05775536212603715}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0639236711855163}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.057800989236643834}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06398076628177517}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0578580235959763}], "left_finger_force_n": 0.3666631933989634, "right_finger_force_n": 0.3651968079516913, "bilateral_contact": true, "supported": false, "lift_m": 0.04852419654837617}, "target_sequence": 6320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 158, "source_target": [0.5440493822097778, -1.4845836162567139, 1.5147267580032349, 1.464188814163208, -2.1063148975372314, 0.009570312686264515], "source_tool_goal_m": [0.1071619043645501, -0.22898877089466388, 0.07865904278833394], "target_tool_goal_m": [0.25013919225691056, -0.004127964983284257, 0.15447356913787252], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6320, "api_command_sequence": 158, "api_accepted_sequence": 158, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.013450918045388675, "joint2": 1.51053700564655, "joint3": 1.392342777858833, "joint4": -1.2888140640342616, "joint5": 0.004026101393175995, "joint6": -0.002359172591257343, "gripper": 0.0005130234474848424}, "target_simulation_time": 12.720000000000917, "target_positions": {"joint1": -0.015670094387175648, "joint2": 1.51497860766306, "joint3": 1.387997210780407, "joint4": -1.2871032376807399, "joint5": 0.005353458651202315, "joint6": -0.0026805037430358055, "gripper": 0.008088365567807655}, "target_object": {"position_m": [0.2512000421490955, -0.005030196065173717, 0.14972733670967006], "quaternion_wxyz": [0.708592912542829, -0.06738719049121866, -0.06244611818925971, 0.699610987031268], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06613980454407456}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06032643310568181}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06602663316833327}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0602133849603066}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06588517254301869}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06007207805085007}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06565779258084624}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05984223050999673}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06577100830866335}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05995532394006508}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06591253154431918}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.060096693981336}], "left_finger_force_n": 0.378663506372265, "right_finger_force_n": 0.37723558086522657, "bilateral_contact": true, "supported": false, "lift_m": 0.0496059676817876}, "target_sequence": 6360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 159, "source_target": [0.546395480632782, -1.4848744869232178, 1.5112162828445435, 1.4722671508789062, -2.107653856277466, 0.012304686941206455], "source_tool_goal_m": [0.10723732049402357, -0.228147077929223, 0.07914339184373194], "target_tool_goal_m": [0.25093077752988496, -0.0038763898460069234, 0.15495791819327054], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6360, "api_command_sequence": 159, "api_accepted_sequence": 159, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012802511962183311, "joint2": 1.5099496828461727, "joint3": 1.3938450554065656, "joint4": -1.2867837113702438, "joint5": 0.0034737338092204677, "joint6": -0.0021816097988238163, "gripper": 0.000659601532545473}, "target_simulation_time": 12.800000000000944, "target_positions": {"joint1": -0.01546835766296967, "joint2": 1.5129257217239565, "joint3": 1.3898258134107524, "joint4": -1.2871077087229243, "joint5": 0.005119699764873089, "joint6": -0.0025736564923237023, "gripper": 0.008089164728504803}, "target_object": {"position_m": [0.25149832250190834, -0.0049411330013059244, 0.15065547830487377], "quaternion_wxyz": [0.708441257031899, -0.06866230706410445, -0.06387883808913856, 0.6995112343401487], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06498976847145055}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.059425606328196684}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06488657891828063}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.059322522618751546}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06475759490892354}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05919367065864458}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06453560062105385}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05896914215393359}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06463883433619205}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.059072270527865095}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06476787940454747}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.059201183664214875}], "left_finger_force_n": 0.3725757419042475, "right_finger_force_n": 0.3711849107078069, "bilateral_contact": true, "supported": false, "lift_m": 0.05053410927699131}, "target_sequence": 6400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 160, "source_target": [0.5432570576667786, -1.4869204759597778, 1.4998828172683716, 1.4794137477874756, -2.106081485748291, 0.0], "source_tool_goal_m": [0.10701615961399423, -0.2290744013085696, 0.08108463476977174], "target_tool_goal_m": [0.25000617742725245, -0.0040284091418490925, 0.15689916111931032], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6400, "api_command_sequence": 160, "api_accepted_sequence": 160, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.013300410465524874, "joint2": 1.5037144647631646, "joint3": 1.3957393236254607, "joint4": -1.2908662239163569, "joint5": 0.0037107679642082734, "joint6": -0.002197619831915323, "gripper": 0.0}, "target_simulation_time": 12.88000000000097, "target_positions": {"joint1": -0.015365364069583843, "joint2": 1.5102949658672888, "joint3": 1.3910716948354251, "joint4": -1.287584180362136, "joint5": 0.004922476476240939, "joint6": -0.0024880765411440767, "gripper": 0.008083152883606911}, "target_object": {"position_m": [0.25153857880248365, -0.004881022076711741, 0.15156394922678482], "quaternion_wxyz": [0.708327244139233, -0.06977636158082214, -0.06512275447527513, 0.6994017453682937], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06982776026285283}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06447411567596018}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06974502830744861}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06439147063250106}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06964161534994776}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06428816615876203}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06942916627771464}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06407323093204977}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06951193477144897}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06415591278328711}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06961539737232217}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06425926692479574}], "left_finger_force_n": 0.4023681563874725, "right_finger_force_n": 0.4010449090616184, "bilateral_contact": true, "supported": false, "lift_m": 0.051442580198902355}, "target_sequence": 6440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 161, "source_target": [0.5435121655464172, -1.4890388250350952, 1.4946173429489136, 1.4875985383987427, -2.106006383895874, 0.0], "source_tool_goal_m": [0.10686499714840259, -0.22871958651127816, 0.08215205230663168], "target_tool_goal_m": [0.2502703273263932, -0.00375652647760512, 0.15796657865617025], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6440, "api_command_sequence": 161, "api_accepted_sequence": 161, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012622468190162384, "joint2": 1.5010512542765857, "joint3": 1.3975821708499943, "joint4": -1.2908242394085347, "joint5": 0.0031329900211833225, "joint6": -0.0020113540561072095, "gripper": 0.0}, "target_simulation_time": 12.960000000000997, "target_positions": {"joint1": -0.015222324143035919, "joint2": 1.5066724834168017, "joint3": 1.3924968024116557, "joint4": -1.28814334869095, "joint5": 0.004698232609382576, "joint6": -0.002386404232427181, "gripper": 0.008081106373024399}, "target_object": {"position_m": [0.25153023580190226, -0.004805134665208744, 0.15274774601159508], "quaternion_wxyz": [0.7081685967419717, -0.07125627263062284, -0.06674785618444178, 0.6992599701785307], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.07004791737817945}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06492641661412003}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0699637402969203}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0648423251540902}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0698585210254953}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06473721275410294}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06965051766954507}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06452689807772351}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06973473071965447}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06461102585597546}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0698399991073039}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06471618749863199}], "left_finger_force_n": 0.4043761332229082, "right_finger_force_n": 0.4030793589288344, "bilateral_contact": true, "supported": false, "lift_m": 0.052626376983712614}, "target_sequence": 6480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 162, "source_target": [0.5439509153366089, -1.4899992942810059, 1.4893609285354614, 1.4948275089263916, -2.1069390773773193, 0.0], "source_tool_goal_m": [0.10679598340106346, -0.2284217847828912, 0.08301637078301057], "target_tool_goal_m": [0.2505140252710345, -0.0035807752968942228, 0.15883089713254916], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6480, "api_command_sequence": 162, "api_accepted_sequence": 162, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012206509954023205, "joint2": 1.4986175255376444, "joint3": 1.3988297261509859, "joint4": -1.290359078422306, "joint5": 0.002724445332388151, "joint6": -0.0018613375394569529, "gripper": 0.0}, "target_simulation_time": 13.040000000001024, "target_positions": {"joint1": -0.01491176892643915, "joint2": 1.5031373014504108, "joint3": 1.3943766779284499, "joint4": -1.2885310608170062, "joint5": 0.0044505547657529365, "joint6": -0.002273136090491717, "gripper": 0.008080457328139471}, "target_object": {"position_m": [0.2516627862922259, -0.004684281589624171, 0.15403256380685507], "quaternion_wxyz": [0.7079316617209371, -0.07292320247433669, -0.0685856151744235, 0.6991501857720306], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0699657690846472}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06505891547664598}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06989534923217344}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06498856389559951}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06980732585404416}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06490062575399988}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06960179319920662}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06469284730105788}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0696722439030917}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06476322995935661}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06976030871756922}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06485120961405469}], "left_finger_force_n": 0.40461654929711016, "right_finger_force_n": 0.4033416326943367, "bilateral_contact": true, "supported": false, "lift_m": 0.053911194778972604}, "target_sequence": 6520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 163, "source_target": [0.546262264251709, -1.4909751415252686, 1.4811756610870361, 1.5027477741241455, -2.1071629524230957, 0.0], "source_tool_goal_m": [0.1072328063294846, -0.22819597939001815, 0.08429989843790088], "target_tool_goal_m": [0.2508847368823977, -0.003890885931250223, 0.16011442478743948], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6520, "api_command_sequence": 163, "api_accepted_sequence": 163, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.013048996741173416, "joint2": 1.4954704603051474, "joint3": 1.4010710672084583, "joint4": -1.2900210830178465, "joint5": 0.003240507545576631, "joint6": -0.0019511261834559658, "gripper": 0.0}, "target_simulation_time": 13.12000000000105, "target_positions": {"joint1": -0.014804628252759928, "joint2": 1.4999775535876558, "joint3": 1.3964806419852298, "joint4": -1.2887977900335184, "joint5": 0.004271580086355793, "joint6": -0.0021972353891960453, "gripper": 0.008080468485954962}, "target_object": {"position_m": [0.2518835833563742, -0.004624937786660079, 0.1552878752948574], "quaternion_wxyz": [0.7077459984611761, -0.07460821547730626, -0.07038043469844142, 0.6989819813536978], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06984553234728541}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.065120567804041}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06979660311646875}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0650716836559437}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06973544225365466}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06501057909993954}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06954686785460154}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06481976534503436}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06959581965316272}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06486867213439138}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06965701007657703}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06492980624969075}], "left_finger_force_n": 0.40458040827733305, "right_finger_force_n": 0.40341794131345776, "bilateral_contact": true, "supported": false, "lift_m": 0.055166506266974946}, "target_sequence": 6560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 164, "source_target": [0.5471001863479614, -1.4919371604919434, 1.4796276092529297, 1.5070645809173584, -2.1058566570281982, 0.0], "source_tool_goal_m": [0.10718025291521698, -0.22777324286687212, 0.08465676261368767], "target_tool_goal_m": [0.2512479336830743, -0.0036825660191624225, 0.16047128896322627], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6560, "api_command_sequence": 164, "api_accepted_sequence": 164, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012531979577302226, "joint2": 1.4947652795397046, "joint3": 1.4018715666968957, "joint4": -1.2890360227976196, "joint5": 0.0027846777393907662, "joint6": -0.0018023693771633707, "gripper": 0.0}, "target_simulation_time": 13.200000000001078, "target_positions": {"joint1": -0.014724538279415753, "joint2": 1.4976215133926825, "joint3": 1.3983147518467365, "joint4": -1.2888510973121408, "joint5": 0.004083149054542006, "joint6": -0.002112694924040399, "gripper": 0.008080413688677169}, "target_object": {"position_m": [0.2521379673477779, -0.0045734145174134615, 0.15630104420388724], "quaternion_wxyz": [0.7076008946678348, -0.07599940860247131, -0.07189093795681338, 0.6988252691460451], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06974886637596511}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06522877678580086}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06969206900976738}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06517203001483467}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06962107322978449}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06510109741763494}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06944205568894872}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06492001570500498}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06949887809540753}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06497678767422717}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0695699070293452}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06504775350035258}], "left_finger_force_n": 0.40456391283378745, "right_finger_force_n": 0.4034553976932862, "bilateral_contact": true, "supported": false, "lift_m": 0.05617967517600478}, "target_sequence": 6600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 165, "source_target": [0.5449019074440002, -1.49306321144104, 1.4735465049743652, 1.5131303071975708, -2.1071977615356445, 0.00820312462747097], "source_tool_goal_m": [0.10677640249471411, -0.22799943013296445, 0.08568018936170536], "target_tool_goal_m": [0.25088940900721385, -0.003402487155322295, 0.16149471571124396], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6600, "api_command_sequence": 165, "api_accepted_sequence": 165, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.011863031333451811, "joint2": 1.4915187509941112, "joint3": 1.4029448171285617, "joint4": -1.29064896029605, "joint5": 0.002206870176806932, "joint6": -0.0016138760450652772, "gripper": 0.0004397343550303153}, "target_simulation_time": 13.280000000001104, "target_positions": {"joint1": -0.014524972862772904, "joint2": 1.495670097475249, "joint3": 1.3992423818533117, "joint4": -1.2890828255159614, "joint5": 0.0038508117035303525, "joint6": -0.002006611740946722, "gripper": 0.008084596904582296}, "target_object": {"position_m": [0.25218175249354974, -0.00447889530852711, 0.1569877352296034], "quaternion_wxyz": [0.7074737867346901, -0.07683887102613479, -0.07289920577806655, 0.6987577082076687], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06628562953942191}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06196566704238051}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06622900166423501}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.061909085240824446}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06615821770249918}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06183835881280254}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06598328827051736}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06166143528730881}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06603994143746282}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06171804251887351}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06611075877674275}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06178880238058949}], "left_finger_force_n": 0.3843859600021636, "right_finger_force_n": 0.38330226867149475, "bilateral_contact": true, "supported": false, "lift_m": 0.05686636620172095}, "target_sequence": 6640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 166, "source_target": [0.5484161972999573, -1.4943040609359741, 1.4678525924682617, 1.5172348022460938, -2.106504440307617, 0.0], "source_tool_goal_m": [0.10754005618180387, -0.22782532112967202, 0.08668809904966461], "target_tool_goal_m": [0.2513374930254571, -0.004028490668773958, 0.16250262539920318], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6640, "api_command_sequence": 166, "api_accepted_sequence": 166, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.013578216127723027, "joint2": 1.4893979780983797, "joint3": 1.4049970184863503, "joint4": -1.290019012499143, "joint5": 0.003242189788724094, "joint6": -0.0018445593007025561, "gripper": 0.0}, "target_simulation_time": 13.360000000001131, "target_positions": {"joint1": -0.014465872926237296, "joint2": 1.4938808368590986, "joint3": 1.4002905698885242, "joint4": -1.289284045508606, "joint5": 0.0037440122518304824, "joint6": -0.001962331188159016, "gripper": 0.008081642889287597}, "target_object": {"position_m": [0.2522523493572089, -0.004444530283111408, 0.15766083254290794], "quaternion_wxyz": [0.7073737393754291, -0.07770710220443819, -0.07383634347385015, 0.6986645786723574], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06930662266019884}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06512304895325688}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0692917642989827}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06510820142586965}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0692731913972925}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06508964206339016}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06910574817603535}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06492018717713753}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06912061365719949}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06493504182868885}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06913919555848265}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06495361018987232}], "left_finger_force_n": 0.40319247079899073, "right_finger_force_n": 0.40217439658741616, "bilateral_contact": true, "supported": false, "lift_m": 0.05753946351502548}, "target_sequence": 6680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 167, "source_target": [0.5464339852333069, -1.4927295446395874, 1.4642505645751953, 1.523197054862976, -2.105988025665283, 0.0], "source_tool_goal_m": [0.10694939492778895, -0.22766454980029707, 0.08686525246606458], "target_tool_goal_m": [0.2512587035342794, -0.0034319990246721214, 0.16267977881560317], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6680, "api_command_sequence": 167, "api_accepted_sequence": 167, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.012013877193012681, "joint2": 1.4886193640969703, "joint3": 1.4049978046435818, "joint4": -1.2901738940592167, "joint5": 0.0021371181395643314, "joint6": -0.0015354163250238249, "gripper": 0.0}, "target_simulation_time": 13.440000000001158, "target_positions": {"joint1": -0.014383866390639675, "joint2": 1.4923141091975527, "joint3": 1.4012398062659077, "joint4": -1.2894195347796626, "joint5": 0.003552571685514704, "joint6": -0.0018756058465416792, "gripper": 0.008080789293711662}, "target_object": {"position_m": [0.2523365470855805, -0.004390521652951717, 0.1582655756054948], "quaternion_wxyz": [0.7072886578807652, -0.07846746258564871, -0.07473017848183702, 0.6985706923230236], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06943882062297696}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06546078986869437}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0693832243482667}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06540523737699351}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06931372989873642}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06533579760405879}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06915671043557506}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06517699639607587}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06921233072568825}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0652325730689058}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06928185697977016}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0653020447491947}], "left_finger_force_n": 0.40433759971972677, "right_finger_force_n": 0.4033625123552098, "bilateral_contact": true, "supported": false, "lift_m": 0.05814420657761235}, "target_sequence": 6720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 168, "source_target": [0.5411353707313538, -1.4925113916397095, 1.4764198064804077, 1.51060950756073, -2.1016480922698975, 0.013671875], "source_tool_goal_m": [0.10606151766792125, -0.22837961544471963, 0.08519108319264199], "target_tool_goal_m": [0.2502730726858131, -0.0028990192087528107, 0.16100560954218057], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6720, "api_command_sequence": 168, "api_accepted_sequence": 168, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.01069578176492831, "joint2": 1.4910838407332476, "joint3": 1.400681283207584, "joint4": -1.2911375179330755, "joint5": 0.001115522428697327, "joint6": -0.0012282376836202339, "gripper": 0.000732890625}, "target_simulation_time": 13.520000000001184, "target_positions": {"joint1": -0.013807294016767434, "joint2": 1.491880850433319, "joint3": 1.4012798031915994, "joint4": -1.289677081103459, "joint5": 0.0032721152304531873, "joint6": -0.0017409638113191472, "gripper": 0.008087083923364756}, "target_object": {"position_m": [0.25226386006566665, -0.004192560969057264, 0.1583837110108444], "quaternion_wxyz": [0.7071304437256128, -0.07842293523902236, -0.07493089172343938, 0.6987143481068958], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06376285848077069}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.059969316649881685}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06372494872629102}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05993143293234837}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0636775619093548}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05988407863898857}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06353489107891168}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.059739622965883275}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06357281831494768}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05977752421699602}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06362022773569481}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05982490113396469}], "left_finger_force_n": 0.3709501973376351, "right_finger_force_n": 0.37006998544639813, "bilateral_contact": true, "supported": false, "lift_m": 0.05826234198296193}, "target_sequence": 6760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 169, "source_target": [0.5387734770774841, -1.4935853481292725, 1.4779796600341797, 1.5086427927017212, -2.0987911224365234, 0.0], "source_tool_goal_m": [0.10568473344379632, -0.22873481133990867, 0.08517998796493186], "target_tool_goal_m": [0.24980790131184374, -0.0026925104586693486, 0.16099451431447043], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6760, "api_command_sequence": 169, "api_accepted_sequence": 169, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.01011036110501478, "joint2": 1.4903856909726978, "joint3": 1.4000071561467684, "joint4": -1.2923060089734313, "joint5": 0.0008274784344340018, "joint6": -0.0010913300594148382, "gripper": 0.0}, "target_simulation_time": 13.600000000001211, "target_positions": {"joint1": -0.012883845736273367, "joint2": 1.491878400745747, "joint3": 1.4011105513649356, "joint4": -1.2900930264196588, "joint5": 0.00295874198558456, "joint6": -0.00159979524871732, "gripper": 0.008082585855410288}, "target_object": {"position_m": [0.25213183700874314, -0.003901232769549287, 0.1583368816712256], "quaternion_wxyz": [0.7068779363372799, -0.07805206050542793, -0.07486369708389583, 0.6990185160847567], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06892858987447845}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06528530126731309}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06888582927238146}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0652425702197895}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06883237900967157}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06518915687377813}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06862032617524023}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06497547906432247}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06866310540515887}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06501822885023813}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0687165799310502}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06507166654459219}], "left_finger_force_n": 0.4023638265174122, "right_finger_force_n": 0.4010653859706021, "bilateral_contact": true, "supported": false, "lift_m": 0.058215512643343126}, "target_sequence": 6800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 170, "source_target": [0.5392727255821228, -1.4928827285766602, 1.4774731397628784, 1.5077447891235352, -2.096693754196167, 0.0027343749534338713], "source_tool_goal_m": [0.10587138289016314, -0.2288490427651615, 0.08513526555666649], "target_tool_goal_m": [0.24977530747563703, -0.0029051115469056472, 0.16094979190620506], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6800, "api_command_sequence": 170, "api_accepted_sequence": 170, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.010535029672126116, "joint2": 1.4905456739139988, "joint3": 1.3999757133568462, "joint4": -1.292437322749828, "joint5": 0.001404566151514001, "joint6": -0.001186630237345859, "gripper": 0.0001465781225037894}, "target_simulation_time": 13.680000000001238, "target_positions": {"joint1": -0.01253088855979891, "joint2": 1.4918813735200251, "joint3": 1.400921973052083, "joint4": -1.2904917417178956, "joint5": 0.002718925747754545, "joint6": -0.0015030334884147834, "gripper": 0.008082902012186059}, "target_object": {"position_m": [0.2519955719330304, -0.0037605380518318902, 0.15828294787971964], "quaternion_wxyz": [0.706804598120597, -0.07772153175466773, -0.07474258328804816, 0.699142453167248], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06803958095646749}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06452950802463553}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06799194858117164}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06448190814609611}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06793240875349948}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0644224089056758}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06779263778994465}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06428097419115952}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06784029214523037}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06432859610412925}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06789986073029061}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06438812410257876}], "left_finger_force_n": 0.39739776336754606, "right_finger_force_n": 0.39653048506333316, "bilateral_contact": true, "supported": false, "lift_m": 0.058161578851837176}, "target_sequence": 6840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 171, "source_target": [0.5343891978263855, -1.4926174879074097, 1.4781090021133423, 1.5100172758102417, -2.0911006927490234, 0.0], "source_tool_goal_m": [0.10474726872966253, -0.22900395021897774, 0.08497494753954062], "target_tool_goal_m": [0.24920761451756201, -0.0019450843419918373, 0.16078947388907922], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6840, "api_command_sequence": 171, "api_accepted_sequence": 171, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00797587854424614, "joint2": 1.4901803127487203, "joint3": 1.3990142679717763, "joint4": -1.2939027423121758, "joint5": -0.0002968053981842731, "joint6": -0.0007017430183560696, "gripper": 0.0}, "target_simulation_time": 13.760000000001265, "target_positions": {"joint1": -0.011563878012741495, "joint2": 1.4918676962453867, "joint3": 1.4004452762952493, "joint4": -1.291018953443619, "joint5": 0.002391283654830403, "joint6": -0.0013404499047013315, "gripper": 0.008080240555518417}, "target_object": {"position_m": [0.2517729694844272, -0.003463036841403083, 0.15816284822330712], "quaternion_wxyz": [0.7065698044948193, -0.07720660402282058, -0.07454015377611753, 0.6994583741341933], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06899516019855356}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0656587418679537}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06897663756725363}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06564023119051604}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06895348437270603}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06561709293362418}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06886242948307358}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06552445474350485}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06888096081686695}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06554297413560672}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06890412507860845}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0655661234655692}], "left_finger_force_n": 0.4038413481306071, "right_finger_force_n": 0.40328106772322975, "bilateral_contact": true, "supported": false, "lift_m": 0.058041479195424656}, "target_sequence": 6880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 172, "source_target": [0.5254132747650146, -1.492763876914978, 1.4816148281097412, 1.5049092769622803, -2.0846076011657715, 0.012304686941206455], "source_tool_goal_m": [0.10322966167731985, -0.23019759354292196, 0.08454581303233955], "target_tool_goal_m": [0.2475488314947528, -0.0010232215649967364, 0.16036033938187813], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6880, "api_command_sequence": 172, "api_accepted_sequence": 172, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.005394638668666303, "joint2": 1.4888606323927258, "joint3": 1.3961125228416238, "joint4": -1.2979250009979675, "joint5": -0.0016983673803063217, "joint6": -0.00025338545811357123, "gripper": 0.000659601532545473}, "target_simulation_time": 13.840000000001291, "target_positions": {"joint1": -0.00924847015120282, "joint2": 1.4918001545750588, "joint3": 1.3987613472085694, "joint4": -1.2926223541394628, "joint5": 0.0019188638144528299, "joint6": -0.0011134680358954, "gripper": 0.008085976737814776}, "target_object": {"position_m": [0.25104599444164205, -0.002788410322274438, 0.1577541417956816], "quaternion_wxyz": [0.7059607852726709, -0.07582021756823956, -0.07368238308330399, 0.7003153366079191], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06400819172498659}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06082866655041988}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06400104473413858}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.060821522207285206}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06399211100067234}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06081259178320906}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06378170201762147}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06060087918284999}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06378885211303228}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.060608026649061675}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06379778973735031}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06061696098663231}], "left_finger_force_n": 0.37446412800071166, "right_finger_force_n": 0.373194210686548, "bilateral_contact": true, "supported": false, "lift_m": 0.05763277276779913}, "target_sequence": 6920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 173, "source_target": [0.5189402103424072, -1.4945684671401978, 1.4832215309143066, 1.5068742036819458, -2.0781033039093018, 0.01640624925494194], "source_tool_goal_m": [0.10179849623699684, -0.23048222136457297, 0.08462332912046115], "target_tool_goal_m": [0.24674684643912995, 0.0001658124827453572, 0.16043785546999972], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6920, "api_command_sequence": 173, "api_accepted_sequence": 173, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.0016719128285755452, "joint2": 1.4875233643469452, "joint3": 1.3951642970102904, "joint4": -1.3001202569483417, "joint5": -0.0031158795727566826, "joint6": 0.00022425024075244126, "gripper": 0.0008794687100606306}, "target_simulation_time": 13.920000000001318, "target_positions": {"joint1": -0.005761525520485411, "joint2": 1.4916690689257126, "joint3": 1.3965925385496396, "joint4": -1.2956723269915642, "joint5": 0.0013171650313430312, "joint6": -0.0008312162361839725, "gripper": 0.008090278323624158}, "target_object": {"position_m": [0.24984271522941556, -0.0017960266101160235, 0.1572283124696849], "quaternion_wxyz": [0.7050237332470698, -0.07366107695619054, -0.07223294914508721, 0.7016394960076157], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06197107698389656}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.058938338197644706}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06195850009524392}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05892576604842796}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.061942779003537965}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.05891005088008681}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06164201194228483}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.05860823279174862}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06165459361362014}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.058620809789641015}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06167032072164076}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.058636531054931655}], "left_finger_force_n": 0.3626465112088379, "right_finger_force_n": 0.360832499913867, "bilateral_contact": true, "supported": false, "lift_m": 0.05710694344180245}, "target_sequence": 6960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 174, "source_target": [0.5147680044174194, -1.4917906522750854, 1.483872890472412, 1.5029877424240112, -2.074460029602051, 0.0013671874767169356], "source_tool_goal_m": [0.10122023131076993, -0.23126556282739688, 0.08406443805608965], "target_tool_goal_m": [0.24581701539618167, 0.00039220442486009036, 0.15987896440562824], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 6960, "api_command_sequence": 174, "api_accepted_sequence": 174, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": -0.00019851663610262645, "joint2": 1.487928245774886, "joint3": 1.3932713589908936, "joint4": -1.3024040661967764, "joint5": -0.0023973708231725703, "joint6": 0.00015561703416127942, "gripper": 7.32890612518947e-05}, "target_simulation_time": 14.000000000001345, "target_positions": {"joint1": -0.0027006923663829368, "joint2": 1.491578739358336, "joint3": 1.3945699755824874, "joint4": -1.2980467028743425, "joint5": 0.0007802833105412911, "joint6": -0.0006072635029048939, "gripper": 0.008085370510610647}, "target_object": {"position_m": [0.24882643796688686, -0.0009213373386730749, 0.15673682048698812], "quaternion_wxyz": [0.7041636115484312, -0.0718083336633751, -0.07100791845718736, 0.7028193558119588], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06802889163275716}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06509196429595505}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06796156479414792}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06502467385966877}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06787740739122425}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06494056190909621}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0674623822575549}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0645245831970684}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06752973013952383}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06459189518794417}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06761391612281585}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06467603625680854}], "left_finger_force_n": 0.3989250638828494, "right_finger_force_n": 0.3963985431617157, "bilateral_contact": true, "supported": false, "lift_m": 0.05661545145910565}, "target_sequence": 7000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 175, "source_target": [0.5115099549293518, -1.4943618774414062, 1.485670804977417, 1.5062320232391357, -2.070199728012085, 0.0], "source_tool_goal_m": [0.10028981728180386, -0.2310344976690954, 0.08424096273554799], "target_tool_goal_m": [0.2456727986628798, 0.0013233706058398526, 0.16005548908508657], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7000, "api_command_sequence": 175, "api_accepted_sequence": 175, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.00308538989045428, "joint2": 1.4874562048561664, "joint3": 1.393513572831443, "joint4": -1.3031159543918651, "joint5": -0.003097406872812469, "joint6": 0.00042239872424037616, "gripper": 0.0}, "target_simulation_time": 14.080000000001371, "target_positions": {"joint1": -0.00016790311650352542, "joint2": 1.491512580459827, "joint3": 1.393571842709827, "joint4": -1.299096856977472, "joint5": 0.0002824258592895484, "joint6": -0.0003856635948316251, "gripper": 0.008081878934281176}, "target_object": {"position_m": [0.2483438862256704, -0.00020087492026879213, 0.15649012934940779], "quaternion_wxyz": [0.7034173373980235, -0.07080176736966462, -0.07054570623896422, 0.7037147593424856], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06882589269576946}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06601652821793494}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06877218885333734}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06596285350697081}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06870505983778274}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0658957608730148}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06847277213133181}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0656623171649843}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06852649734044866}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0657160134337564}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06859365463498666}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0657831345201024}], "left_finger_force_n": 0.4041782839848101, "right_finger_force_n": 0.40275438922561024, "bilateral_contact": true, "supported": false, "lift_m": 0.056368760321525324}, "target_sequence": 7040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 176, "source_target": [0.5023943781852722, -1.4952733516693115, 1.4840859174728394, 1.5075849294662476, -2.060704469680786, 0.0], "source_tool_goal_m": [0.09861901052396914, -0.23202814070854846, 0.08462388391514881], "target_tool_goal_m": [0.24413706571506674, 0.002460116597417585, 0.16043841026468741], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7040, "api_command_sequence": 176, "api_accepted_sequence": 176, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.006761853826050201, "joint2": 1.4843801056495256, "joint3": 1.3921653259195403, "joint4": -1.3074981550375255, "joint5": -0.004370646486153283, "joint6": 0.0008498029454704648, "gripper": 0.0}, "target_simulation_time": 14.160000000001398, "target_positions": {"joint1": 0.002922926472490008, "joint2": 1.4904650033100135, "joint3": 1.3930905580783004, "joint4": -1.3023745231259918, "joint5": -0.00028120299788770675, "joint6": -0.00012474107863680894, "gripper": 0.008080422381271546}, "target_object": {"position_m": [0.2473963810348634, 0.0006638016646421603, 0.15660174178225766], "quaternion_wxyz": [0.7025135151634754, -0.06952659646667611, -0.06989434519968145, 0.7048089059493534], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.068816431573754}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06613708943707025}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06877994745415322}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06610062390949868}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06873434265548414}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06605504233699329}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06852719519012371}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06584690734476113}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06856369248702773}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06588338622658842}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06860931445591453}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.065928985162755}], "left_finger_force_n": 0.4046234773669536, "right_finger_force_n": 0.40335948086717055, "bilateral_contact": true, "supported": false, "lift_m": 0.0564803727543752}, "target_sequence": 7080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 177, "source_target": [0.49385708570480347, -1.49465012550354, 1.484663963317871, 1.50613272190094, -2.0536866188049316, 0.0], "source_tool_goal_m": [0.09707490386706977, -0.2329921251395743, 0.08444339842162306], "target_tool_goal_m": [0.24267637518288235, 0.0034932937574326762, 0.16025792477116163], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7080, "api_command_sequence": 177, "api_accepted_sequence": 177, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.010342811506564506, "joint2": 1.4834054895147741, "joint3": 1.3905070336681375, "joint4": -1.3117925626946716, "joint5": -0.005283241905089542, "joint6": 0.0012029280429977267, "gripper": 0.0}, "target_simulation_time": 14.240000000001425, "target_positions": {"joint1": 0.006610192208203531, "joint2": 1.4882669725445128, "joint3": 1.3919758466398118, "joint4": -1.3073343166762312, "joint5": -0.0009072150333346897, "joint6": 0.00015942079152335336, "gripper": 0.00808033399700173}, "target_object": {"position_m": [0.24582596044447924, 0.001681161527876181, 0.1568277326696482], "quaternion_wxyz": [0.7014395414163631, -0.06779799210879199, -0.06886916088534877, 0.7061466141549965], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06880845102880571}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06624532887203954}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06876693712010039}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06620383497250987}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0687150451764391}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06615196802362538}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0684466293601334}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0658827949745802}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06848815531614852}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.065924301226256}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06854006319703121}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06597618446003059}], "left_finger_force_n": 0.40489156519352, "right_finger_force_n": 0.4032581285341799, "bilateral_contact": true, "supported": false, "lift_m": 0.056706363641765734}, "target_sequence": 7120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 178, "source_target": [0.48480698466300964, -1.4956474304199219, 1.485111117362976, 1.507211685180664, -2.0461275577545166, 0.0013671874767169356], "source_tool_goal_m": [0.0952814113859082, -0.23372199653187561, 0.08455091889222137], "target_tool_goal_m": [0.24133309389188046, 0.004841504697046463, 0.16036544524175994], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7120, "api_command_sequence": 178, "api_accepted_sequence": 178, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.014983340247840954, "joint2": 1.4818726476618136, "joint3": 1.3894950084383608, "joint4": -1.3160247681987913, "joint5": -0.006588085259646339, "joint6": 0.0016667412566728757, "gripper": 7.32890612518947e-05}, "target_simulation_time": 14.320000000001452, "target_positions": {"joint1": 0.01088967073385392, "joint2": 1.486023470194974, "joint3": 1.3907229856039163, "joint4": -1.3120051163596946, "joint5": -0.0016079647562979285, "joint6": 0.00047992023942035545, "gripper": 0.008080883715807534}, "target_object": {"position_m": [0.24427661513294374, 0.002844397921430218, 0.15703184415753743], "quaternion_wxyz": [0.7001596257134514, -0.06608450599229422, -0.06794165491514143, 0.7076674841448807], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06818317382550254}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06573952896065112}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06814537123271622}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06570174346577012}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0680981183492121}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0656545119416851}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06783251809108005}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06538821316590268}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06787033139966511}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06542600965295078}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06791759838737405}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06547325560078142}], "left_finger_force_n": 0.4015224477755372, "right_finger_force_n": 0.39990792629775407, "bilateral_contact": true, "supported": false, "lift_m": 0.05691047512965497}, "target_sequence": 7160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 179, "source_target": [0.4781041741371155, -1.4958277940750122, 1.4869604110717773, 1.506079912185669, -2.0360159873962402, 0.0], "source_tool_goal_m": [0.09397440961886568, -0.23431665012689037, 0.08433005788828604], "target_tool_goal_m": [0.24029729374558903, 0.005800152667188537, 0.16014458423782463], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7160, "api_command_sequence": 179, "api_accepted_sequence": 179, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.01875491100124621, "joint2": 1.4814304480769356, "joint3": 1.388164092450244, "joint4": -1.3189720884593508, "joint5": -0.006977101052453792, "joint6": 0.0019041370685810792, "gripper": 0.0}, "target_simulation_time": 14.400000000001478, "target_positions": {"joint1": 0.01525816393256178, "joint2": 1.4845026222456363, "joint3": 1.3896044837330055, "joint4": -1.3148292254944183, "joint5": -0.002311429252246145, "joint6": 0.0007899307672052854, "gripper": 0.008080996357433706}, "target_object": {"position_m": [0.24323817861978306, 0.00403036144620685, 0.15710679039247308], "quaternion_wxyz": [0.6987886676893093, -0.06480948546433439, -0.06745933614089031, 0.7091850015829989], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06870815795585232}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06636056590507584}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06865369458288263}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06630612674248709}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0685856161386322}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0662380785344513}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0682692664100673}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0659209946555355}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0683237462887321}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06597545066647459}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0683918468989424}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06604352141525455}], "left_finger_force_n": 0.4048522398593814, "right_finger_force_n": 0.4029248263350064, "bilateral_contact": true, "supported": false, "lift_m": 0.056985421364590616}, "target_sequence": 7200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 180, "source_target": [0.4685490131378174, -1.4954376220703125, 1.488057255744934, 1.5059200525283813, -2.0266284942626953, 0.0], "source_tool_goal_m": [0.09209637110728468, -0.23511103897430713, 0.08410548960692119], "target_tool_goal_m": [0.23886339666648512, 0.007200473479088362, 0.15992001595645977], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7200, "api_command_sequence": 180, "api_accepted_sequence": 180, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.02379230953708402, "joint2": 1.4801228799401236, "joint3": 1.3859866568429433, "joint4": -1.3225494984388406, "joint5": -0.00815980775804491, "joint6": 0.0023408069828007535, "gripper": 0.0}, "target_simulation_time": 14.480000000001505, "target_positions": {"joint1": 0.019759684629265344, "joint2": 1.4836071864574132, "joint3": 1.388140346049838, "joint4": -1.317674383126806, "joint5": -0.0030440131473916322, "joint6": 0.0011208699042049514, "gripper": 0.008080508088133763}, "target_object": {"position_m": [0.24216870871824264, 0.005239158704625888, 0.15696007716301497], "quaternion_wxyz": [0.6974106166234659, -0.06319998788625575, -0.06665419206939902, 0.7107611497765124], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06863300450308628}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06639387096049024}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0685875660119674}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06634845195310152}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06853076844679497}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06629167872445553}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06829418876265193}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06605439365409556}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06833964114419822}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06609982682050955}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06839645716281738}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06615661880206195}], "left_finger_force_n": 0.4047853405998959, "right_finger_force_n": 0.40334112634633457, "bilateral_contact": true, "supported": false, "lift_m": 0.056838708135132504}, "target_sequence": 7240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 181, "source_target": [0.45950594544410706, -1.4984745979309082, 1.4891140460968018, 1.5063399076461792, -2.0167219638824463, 0.0], "source_tool_goal_m": [0.09032621597962429, -0.23587593391104308, 0.08449967850020071], "target_tool_goal_m": [0.23749724036015737, 0.00851421852122, 0.1603142048497393], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7240, "api_command_sequence": 181, "api_accepted_sequence": 181, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.0286557859368567, "joint2": 1.4775238214090445, "joint3": 1.3851056468152605, "joint4": -1.3266236433866685, "joint5": -0.00916842611914916, "joint6": 0.0027442299368921176, "gripper": 0.0}, "target_simulation_time": 14.560000000001532, "target_positions": {"joint1": 0.024637715818691643, "joint2": 1.4824999873376221, "joint3": 1.3863988818967847, "joint4": -1.322103226641827, "joint5": -0.0038182931556821047, "joint6": 0.0014689032245120436, "gripper": 0.008080497456062884}, "target_object": {"position_m": [0.24062765510023915, 0.00652727873072356, 0.15679484174279934], "quaternion_wxyz": [0.6959511861607304, -0.06097741455445162, -0.06526462105449912, 0.7125126178772843], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06860559695677473}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06646527461493201}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06855159953740461}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0664112995582798}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06848410355195059}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06634383150132063}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0682339539252537}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06609313392517877}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06828796448710148}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0661471225366092}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06835547846452227}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06621460905111588}], "left_finger_force_n": 0.4048617057206624, "right_finger_force_n": 0.40333226238978126, "bilateral_contact": true, "supported": false, "lift_m": 0.05667347271491688}, "target_sequence": 7280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 182, "source_target": [0.44801291823387146, -1.498468041419983, 1.490498661994934, 1.5038173198699951, -2.005154848098755, 0.0], "source_tool_goal_m": [0.08820743024994691, -0.23711043351515154, 0.0843257619680873], "target_tool_goal_m": [0.2355729127789285, 0.009965466048485987, 0.1601402883176259], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7280, "api_command_sequence": 182, "api_accepted_sequence": 182, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.03408489632191135, "joint2": 1.4759953131593557, "joint3": 1.3828281754171121, "joint4": -1.331999041190442, "joint5": -0.010361904402083143, "joint6": 0.003202645778126126, "gripper": 0.0}, "target_simulation_time": 14.640000000001558, "target_positions": {"joint1": 0.029885928736554882, "joint2": 1.480779122032284, "joint3": 1.3844265586670172, "joint4": -1.327612726882265, "joint5": -0.004641406689852463, "joint6": 0.0018395811949857858, "gripper": 0.008080447273470652}, "target_object": {"position_m": [0.23873040718629807, 0.007887073260730343, 0.1567238445218849], "quaternion_wxyz": [0.694381245832238, -0.0584939934428449, -0.06364561027571908, 0.7143965106719166], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06855929929364224}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0665171258293072}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06849843404684863}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06645628494182375}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06842235351363922}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06638023482689043}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06818455857280158}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0661420195432177}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06824543531443544}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0662028724700462}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0683215322451816}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06627893960145576}], "left_finger_force_n": 0.4048337324521515, "right_finger_force_n": 0.4033753577471383, "bilateral_contact": true, "supported": false, "lift_m": 0.056602475494002435}, "target_sequence": 7320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 183, "source_target": [0.43641549348831177, -1.4984320402145386, 1.492709994316101, 1.503075361251831, -1.9950143098831177, 0.0], "source_tool_goal_m": [0.08588741059208103, -0.2379707318158525, 0.08400971054765892], "target_tool_goal_m": [0.23391127472845635, 0.011741350464894402, 0.1598242368971975], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7320, "api_command_sequence": 183, "api_accepted_sequence": 183, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.040545316191693534, "joint2": 1.4753114465988684, "joint3": 1.3807317648695807, "joint4": -1.3365872580997789, "joint5": -0.012080271843438817, "joint6": 0.003810539493662771, "gripper": 0.0}, "target_simulation_time": 14.720000000001585, "target_positions": {"joint1": 0.03585085468607172, "joint2": 1.479073383913105, "joint3": 1.382316918096483, "joint4": -1.3325907519164826, "joint5": -0.005558870003094448, "joint6": 0.002257891531728884, "gripper": 0.008080160324134842}, "target_object": {"position_m": [0.23690832689275423, 0.009414831511579591, 0.15662246888696507], "quaternion_wxyz": [0.692553745527659, -0.05608482941013688, -0.06219125399114665, 0.716488694532339], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06849874939741615}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06655968539233638}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06844063663305917}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06650159473828336}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06836799661369718}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06642898233006017}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06814446713781938}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06620506377746349}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0682025906098901}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06626316564093146}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06827524586601826}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06633579385956287}], "left_finger_force_n": 0.4047976451048524, "right_finger_force_n": 0.40342632689168556, "bilateral_contact": true, "supported": false, "lift_m": 0.05650109985908261}, "target_sequence": 7360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 184, "source_target": [0.4220910668373108, -1.5010908842086792, 1.4909332990646362, 1.5048208236694336, -1.9789559841156006, 0.0013671874767169356], "source_tool_goal_m": [0.08315276697577811, -0.2393234182354689, 0.08473385785819636], "target_tool_goal_m": [0.2316457297367319, 0.013705894277495637, 0.16054838420773493], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7360, "api_command_sequence": 184, "api_accepted_sequence": 184, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.047839496275509416, "joint2": 1.4710228882523397, "joint3": 1.3795416148667525, "joint4": -1.3434630718608207, "joint5": -0.013992815751655927, "joint6": 0.00449132868747496, "gripper": 7.32890612518947e-05}, "target_simulation_time": 14.800000000001612, "target_positions": {"joint1": 0.04279276854245578, "joint2": 1.4770194511230355, "joint3": 1.380573609076228, "joint4": -1.3390234142382864, "joint5": -0.006598870720417732, "joint6": 0.0027318801728925804, "gripper": 0.008080788405305165}, "target_object": {"position_m": [0.2347835106550496, 0.01116208647970867, 0.1566954775150368], "quaternion_wxyz": [0.6904044205695357, -0.053363386017721094, -0.06053336450715838, 0.7189087542047397], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06791246831486039}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06607305561509785}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06784833354612244}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06600894384764346}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06776816621419941}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06592880523658973}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06751209670718442}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06567256171219941}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06757623642913055}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06573667915221698}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0676564121768585}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06581682701683578}], "left_finger_force_n": 0.40153977277451325, "right_finger_force_n": 0.3999708131944256, "bilateral_contact": true, "supported": false, "lift_m": 0.05657410848715433}, "target_sequence": 7400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 185, "source_target": [0.4098997414112091, -1.5031983852386475, 1.4939966201782227, 1.5060851573944092, -1.9648759365081787, 0.0], "source_tool_goal_m": [0.08055646375692121, -0.23986337168189786, 0.08466224846664919], "target_tool_goal_m": [0.23016943831744627, 0.015853970142725212, 0.16047677481618777], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7400, "api_command_sequence": 185, "api_accepted_sequence": 185, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.05592566614831399, "joint2": 1.470355607694469, "joint3": 1.3784327529335867, "joint4": -1.3479315873257258, "joint5": -0.015918542047167833, "joint6": 0.00520041006822406, "gripper": 0.0}, "target_simulation_time": 14.880000000001639, "target_positions": {"joint1": 0.050674992580125026, "joint2": 1.4745771093127369, "joint3": 1.3792080615923754, "joint4": -1.3443027406991421, "joint5": -0.007757884745994388, "joint6": 0.0032575276043934685, "gripper": 0.008080383696668742}, "target_object": {"position_m": [0.23294742588113873, 0.01313735831407312, 0.15694309912813445], "quaternion_wxyz": [0.6878656875343776, -0.05121658758081283, -0.05959013608018726, 0.7215723614103984], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06841333227939397}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06666822586043145}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06834729098097667}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06660220700660709}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06826474054540378}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06651968459625558}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06797536281098944}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06623008844586017}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06804141135852901}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06629611519125969}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06812397319804511}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06637864974760671}], "left_finger_force_n": 0.4048154812690685, "right_finger_force_n": 0.4030456007522901, "bilateral_contact": true, "supported": false, "lift_m": 0.05682173010025199}, "target_sequence": 7440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 186, "source_target": [0.3957594037055969, -1.503048300743103, 1.4952551126480103, 1.5030487775802612, -1.9549732208251953, 0.0], "source_tool_goal_m": [0.0779008350748757, -0.2412731074950904, 0.08448564185932021], "target_tool_goal_m": [0.2278822172740553, 0.017725209158366992, 0.16030016820885878], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7440, "api_command_sequence": 186, "api_accepted_sequence": 186, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.06370476422406034, "joint2": 1.4684388827087134, "joint3": 1.3756687905287373, "joint4": -1.3539425102866942, "joint5": -0.017065004175796497, "joint6": 0.005721414085960387, "gripper": 0.0}, "target_simulation_time": 14.960000000001665, "target_positions": {"joint1": 0.05888415592908777, "joint2": 1.4724074187447906, "joint3": 1.3777754410046095, "joint4": -1.3492748972974742, "joint5": -0.008953254335202339, "joint6": 0.003788408546599069, "gripper": 0.008080853156080222}, "target_object": {"position_m": [0.23119311884659677, 0.015178697480370757, 0.15712231397676987], "quaternion_wxyz": [0.685187535702713, -0.04908127345897867, -0.05868184369155109, 0.7243379810104182], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06844930674395835}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0667791292301716}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06836561876186249}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06669546868985216}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06826101071595106}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06659089489875895}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06792874916672048}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06625850348322837}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0680124418490886}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0663421696143127}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06811705957440509}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06644675410315393}], "left_finger_force_n": 0.4051414290405546, "right_finger_force_n": 0.40310567779090917, "bilateral_contact": true, "supported": false, "lift_m": 0.05700094494888741}, "target_sequence": 7480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 187, "source_target": [0.38277995586395264, -1.504981517791748, 1.4985542297363281, 1.5040136575698853, -1.9367398023605347, 0.0], "source_tool_goal_m": [0.0751416923963644, -0.24182327227713232, 0.08435217670681806], "target_tool_goal_m": [0.22633477383554496, 0.020017002976621654, 0.16016670305635666], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7480, "api_command_sequence": 187, "api_accepted_sequence": 187, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.07271832959567356, "joint2": 1.467454577607234, "joint3": 1.3739918696855984, "joint4": -1.3579050370907089, "joint5": -0.018900206083014966, "joint6": 0.006421881941645682, "gripper": 0.0}, "target_simulation_time": 15.040000000001692, "target_positions": {"joint1": 0.06740476616507839, "joint2": 1.4707085649375249, "joint3": 1.375849621754153, "joint4": -1.3537664400842333, "joint5": -0.010205624807303538, "joint6": 0.004350863834314316, "gripper": 0.008080612938031419}, "target_object": {"position_m": [0.22943803903848595, 0.01727144283668954, 0.1570837825091726], "quaternion_wxyz": [0.6824141531958483, -0.046742086640062845, -0.05758476195095682, 0.7271933003305092], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06836712515485198}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06678299536174294}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06828517084462557}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06670106686592639}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06818272985789126}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0665986581028403}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06792959482973675}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06634534238692302}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06801155638172787}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06642727888962596}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06811401016969804}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06652970132167645}], "left_finger_force_n": 0.40491774618787846, "right_finger_force_n": 0.4033574839793881, "bilateral_contact": true, "supported": false, "lift_m": 0.056962413481290136}, "target_sequence": 7520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 188, "source_target": [0.36855626106262207, -1.5046651363372803, 1.4995481967926025, 1.5021294355392456, -1.9248878955841064, 0.0], "source_tool_goal_m": [0.07238451612349703, -0.24304028690197194, 0.08417309555196252], "target_tool_goal_m": [0.22418363833195995, 0.022053540369722666, 0.15998762190150112], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7520, "api_command_sequence": 188, "api_accepted_sequence": 188, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.0812931761818445, "joint2": 1.4656657242243474, "joint3": 1.3712782128069916, "joint4": -1.3632178446159364, "joint5": -0.020254275274027164, "joint6": 0.007009744700281944, "gripper": 0.0}, "target_simulation_time": 15.120000000001719, "target_positions": {"joint1": 0.07621147399589309, "joint2": 1.4694557009204472, "joint3": 1.3735416264077618, "joint4": -1.3585510095043583, "joint5": -0.01149104969700649, "joint6": 0.004922462652283631, "gripper": 0.008080869588362656}, "target_object": {"position_m": [0.22754599759038052, 0.019401729617573884, 0.1568702102372073], "quaternion_wxyz": [0.6795486342993853, -0.044029386089081905, -0.056093603001158815, 0.7301565410819837], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.068358668479378}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06684617006452578}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06825714426904121}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06674467669047487}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06813024197287934}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06661781287370601}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06787020654231658}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06635769589461654}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06797173272352452}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0664591923028845}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06809864332086252}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06658606561815743}], "left_finger_force_n": 0.4049547143500052, "right_finger_force_n": 0.4033435364023621, "bilateral_contact": true, "supported": false, "lift_m": 0.05674884120932483}, "target_sequence": 7560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 189, "source_target": [0.35474905371665955, -1.5061225891113281, 1.5038865804672241, 1.5038121938705444, -1.9089243412017822, 0.0], "source_tool_goal_m": [0.06935664166513765, -0.24330179274003275, 0.08379703556396742], "target_tool_goal_m": [0.22279569157407614, 0.0246986366002498, 0.159611561913506], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7560, "api_command_sequence": 189, "api_accepted_sequence": 189, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.09157347250699288, "joint2": 1.4656680830406805, "joint3": 1.3694158240414431, "joint4": -1.3662838433647924, "joint5": -0.02268878295903068, "joint6": 0.007886901734037374, "gripper": 0.0}, "target_simulation_time": 15.200000000001745, "target_positions": {"joint1": 0.08565504297838863, "joint2": 1.4687281347430947, "joint3": 1.3710764441978045, "joint4": -1.3622177729424183, "joint5": -0.012881904401290884, "joint6": 0.005552120611543245, "gripper": 0.008080309683181304}, "target_object": {"position_m": [0.22586622764207306, 0.021678065833259992, 0.1565014617925694], "quaternion_wxyz": [0.6764526099432052, -0.04139780069724284, -0.0547580215029643, 0.7332800608768371], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06825654649178406}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06683336208276577}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06816568149989698}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06674252326261053}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06805210267907179}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06662897710565696}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06788074449858043}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06645742809872769}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06797161862840975}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06654827679608548}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06808521364612842}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06666183997245632}], "left_finger_force_n": 0.4046791931217861, "right_finger_force_n": 0.4036051216403881, "bilateral_contact": true, "supported": false, "lift_m": 0.056380092764686945}, "target_sequence": 7600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 190, "source_target": [0.3347753584384918, -1.5073044300079346, 1.5035333633422852, 1.5041584968566895, -1.8933025598526, 0.0], "source_tool_goal_m": [0.06539979299045803, -0.24474810931684562, 0.0840607727553468], "target_tool_goal_m": [0.2199807109899579, 0.027735410117028042, 0.1598752991048854], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7600, "api_command_sequence": 190, "api_accepted_sequence": 190, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.10351728062063167, "joint2": 1.4620645626538693, "joint3": 1.366723867023425, "joint4": -1.3732839738270068, "joint5": -0.025991350962767744, "joint6": 0.009019336761858295, "gripper": 0.0}, "target_simulation_time": 15.280000000001772, "target_positions": {"joint1": 0.09664036467178545, "joint2": 1.4677083126828505, "joint3": 1.3686351369204286, "joint4": -1.3681607726414333, "joint5": -0.014616363252866, "joint6": 0.006284689527149105, "gripper": 0.008080543313310715}, "target_object": {"position_m": [0.22359145039498715, 0.024276715916721252, 0.15623797102850553], "quaternion_wxyz": [0.6728559396919147, -0.037987005515198034, -0.05285110963351986, 0.7369047645685325], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06838357592381522}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06705333362400744}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06813324601407116}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06680307417414967}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06782035319250436}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06649026905101782}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06771237857252078}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06638287421025915}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06796257124282663}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06663300155344641}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06827533032760784}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0669456786039106}], "left_finger_force_n": 0.4046838519795657, "right_finger_force_n": 0.40391183451057144, "bilateral_contact": true, "supported": false, "lift_m": 0.05611660200062307}, "target_sequence": 7640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 191, "source_target": [0.3245159983634949, -1.5103694200515747, 1.5044599771499634, 1.5024112462997437, -1.8816962242126465, 0.0], "source_tool_goal_m": [0.06342470158662127, -0.24567847446383012, 0.08449710683506184], "target_tool_goal_m": [0.21838667315497318, 0.029172015167068716, 0.16031163318460043], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7640, "api_command_sequence": 191, "api_accepted_sequence": 191, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.11127911387644424, "joint2": 1.4601790485938462, "joint3": 1.366469360121571, "joint4": -1.3782927663351936, "joint5": -0.025472334655202808, "joint6": 0.009153290948118311, "gripper": 0.0}, "target_simulation_time": 15.360000000001799, "target_positions": {"joint1": 0.10709561966872932, "joint2": 1.4656981220375294, "joint3": 1.366699540164742, "joint4": -1.374672458266988, "joint5": -0.016158074505016332, "joint6": 0.0069180063912100374, "gripper": 0.008081852697781434}, "target_object": {"position_m": [0.22117783510782735, 0.02668739952886373, 0.15631185180843066], "quaternion_wxyz": [0.6693431636976337, -0.03493560719366624, -0.05112737229911278, 0.7403683031863527], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06837060109800709}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06706118733979165}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06821013797254934}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06690076683330969}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06800956658492406}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06670024857510566}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06766719527093451}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06635794972211885}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06782764073175801}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06651835442692579}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06802820477262982}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06671886737871366}], "left_finger_force_n": 0.4052525084036875, "right_finger_force_n": 0.40311821230308065, "bilateral_contact": true, "supported": false, "lift_m": 0.056190482780548195}, "target_sequence": 7680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 192, "source_target": [0.31348633766174316, -1.5099056959152222, 1.507736086845398, 1.502977728843689, -1.8713040351867676, 0.0], "source_tool_goal_m": [0.061031645351261724, -0.24585718850633653, 0.08393756806907578], "target_tool_goal_m": [0.2173150683497688, 0.03127317538749809, 0.15975209441861438], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7680, "api_command_sequence": 192, "api_accepted_sequence": 192, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.12070434767288342, "joint2": 1.4615705021611065, "joint3": 1.365072003456538, "joint4": -1.380647298102005, "joint5": -0.02633954429852043, "joint6": 0.009611989061667282, "gripper": 0.0}, "target_simulation_time": 15.440000000001826, "target_positions": {"joint1": 0.11600134893724064, "joint2": 1.4642439542320447, "joint3": 1.3659007506709027, "joint4": -1.3769277139791234, "joint5": -0.01749607443042583, "joint6": 0.007501497651762893, "gripper": 0.008081670700737942}, "target_object": {"position_m": [0.22008651810764399, 0.028814184922722204, 0.156469218108112], "quaternion_wxyz": [0.6662705916085142, -0.03363515016623981, -0.051096490790664896, 0.7431966927131829], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0681412357514772}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06688971128472623}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06801645794126979}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06676496562607423}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06786049041714878}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06660903820323961}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06781797804554272}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06656615370395298}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06794278764629388}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06669093168638181}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06809880431914032}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06684690874820158}], "left_finger_force_n": 0.40428189922393587, "right_finger_force_n": 0.4039635641495133, "bilateral_contact": true, "supported": false, "lift_m": 0.05634784908022955}, "target_sequence": 7720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 193, "source_target": [0.2991058826446533, -1.5100913047790527, 1.5080677270889282, 1.5025596618652344, -1.854936122894287, 0.0], "source_tool_goal_m": [0.058146599385952895, -0.24679984111526024, 0.08393128986156852], "target_tool_goal_m": [0.21536401326031962, 0.03352990200070819, 0.15974581621110712], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7720, "api_command_sequence": 193, "api_accepted_sequence": 193, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.1303706770241122, "joint2": 1.4595199050101078, "joint3": 1.3628183163610958, "joint4": -1.3848496262465084, "joint5": -0.02827042637669078, "joint6": 0.01034942684464105, "gripper": 0.0}, "target_simulation_time": 15.520000000001852, "target_positions": {"joint1": 0.12491396661809827, "joint2": 1.4633954711379684, "joint3": 1.3650092637570121, "joint4": -1.3794375528905336, "joint5": -0.018851633364784102, "joint6": 0.008108265354420639, "gripper": 0.008080750014240181}, "target_object": {"position_m": [0.2189644983582363, 0.030920016458297592, 0.15649109591771249], "quaternion_wxyz": [0.6632231606085851, -0.032056637919228345, -0.05074420052349289, 0.7460110168830657], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.067983518146563}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06680436227463915}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06790749104759952}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0667283540769748}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06781245901555019}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06663334563926844}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06790280872943434}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06672337190300233}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06797885401819974}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06679939861750617}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06807391244221002}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0668944337914124}], "left_finger_force_n": 0.40386953020059513, "right_finger_force_n": 0.404372779501765, "bilateral_contact": true, "supported": false, "lift_m": 0.056369726889830024}, "target_sequence": 7760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 194, "source_target": [0.28612279891967773, -1.5129592418670654, 1.512324333190918, 1.5022867918014526, -1.8417948484420776, 0.0], "source_tool_goal_m": [0.05538967793989298, -0.247130891583957, 0.08383621842662213], "target_tool_goal_m": [0.21401602157873661, 0.035902969277213946, 0.1596507447761607], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7760, "api_command_sequence": 194, "api_accepted_sequence": 194, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.14022067131084817, "joint2": 1.4588421643059213, "joint3": 1.36150068768363, "joint4": -1.3875573400824273, "joint5": -0.030366067718486142, "joint6": 0.011151416267104027, "gripper": 0.0}, "target_simulation_time": 15.600000000001879, "target_positions": {"joint1": 0.13450027818697155, "joint2": 1.4625068373399568, "joint3": 1.3633506085326146, "joint4": -1.3828229583531213, "joint5": -0.020293391087748053, "joint6": 0.00875606737796051, "gripper": 0.00808039360399901}, "target_object": {"position_m": [0.21740930376824033, 0.033118267002150675, 0.15636458378507578], "quaternion_wxyz": [0.6599642785960276, -0.029891287819239516, -0.04979363707196443, 0.7490489006712958], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0679202955621474}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0668106294038739}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06786552602840032}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06675587285135587}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.067797065089086}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06668742812248149}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06790102743527243}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06679116492292823}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06795580611553836}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06684593090955135}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06802428042358842}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06691438933445092}], "left_finger_force_n": 0.403836817057345, "right_finger_force_n": 0.40443259914132973, "bilateral_contact": true, "supported": false, "lift_m": 0.05624321475719332}, "target_sequence": 7800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 195, "source_target": [0.270416796207428, -1.5128337144851685, 1.5128374099731445, 1.4975980520248413, -1.8247028589248657, 0.0], "source_tool_goal_m": [0.052380138474195106, -0.2486508172287593, 0.08378986948043979], "target_tool_goal_m": [0.21149439950663942, 0.038053112755149374, 0.15960439582997837], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7800, "api_command_sequence": 195, "api_accepted_sequence": 195, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.15017628979629086, "joint2": 1.4566434580860386, "joint3": 1.3587116644030626, "joint4": -1.3934095956016184, "joint5": -0.03213897805097326, "joint6": 0.011881986323063032, "gripper": 0.0}, "target_simulation_time": 15.680000000001906, "target_positions": {"joint1": 0.1445509388023176, "joint2": 1.4612956585540209, "joint3": 1.3610315882998205, "joint4": -1.3883471414887998, "joint5": -0.02179509063308441, "joint6": 0.009424491680688239, "gripper": 0.008080583290743454}, "target_object": {"position_m": [0.215158721296112, 0.03530859771100984, 0.15620234605954839], "quaternion_wxyz": [0.656572120648573, -0.026912704425334097, -0.04793114867142344, 0.752257510241398], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06790828599333165}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06685733953540476}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06784242327862147}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06679149160820695}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06776009628973471}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06670918308191963}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06785802120759757}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06680709011053669}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06792388175570337}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06687293640627126}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0680062087972739}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06695524561063816}], "left_finger_force_n": 0.40386881978721917, "right_finger_force_n": 0.40442338388802096, "bilateral_contact": true, "supported": false, "lift_m": 0.056080977031665924}, "target_sequence": 7840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 196, "source_target": [0.2592546045780182, -1.5135018825531006, 1.5087628364562988, 1.5010030269622803, -1.8130162954330444, 0.0], "source_tool_goal_m": [0.05013261518936176, -0.24936805058385572, 0.08446959951758863], "target_tool_goal_m": [0.20998999333714086, 0.039817665654715756, 0.1602841258671272], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7840, "api_command_sequence": 196, "api_accepted_sequence": 196, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.15891131976456363, "joint2": 1.4542649318870895, "joint3": 1.3590665428054558, "joint4": -1.397951292382453, "joint5": -0.03277619941224676, "joint6": 0.012321114109881863, "gripper": 0.0}, "target_simulation_time": 15.760000000001932, "target_positions": {"joint1": 0.15415134760865776, "joint2": 1.4595541383587305, "joint3": 1.35926775143207, "joint4": -1.3941857712654548, "joint5": -0.023234344837681484, "joint6": 0.010052044578743058, "gripper": 0.00808129957437592}, "target_object": {"position_m": [0.2128806011455757, 0.037352314330728574, 0.15627831914439128], "quaternion_wxyz": [0.6532918270469055, -0.024186861532127298, -0.04624966747107043, 0.7553050726042806], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06789785265057378}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06688536616026922}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06780815205458396}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06679568492247356}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06769602890731703}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06668358593406563}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06782827391067431}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06681574473093176}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06791797747620663}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06690542955076591}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06803010945465222}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06701753805821224}], "left_finger_force_n": 0.4037666706292832, "right_finger_force_n": 0.4045150731814431, "bilateral_contact": true, "supported": false, "lift_m": 0.056156950116508814}, "target_sequence": 7880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 197, "source_target": [0.24212132394313812, -1.5178967714309692, 1.5151114463806152, 1.5050394535064697, -1.8011118173599243, 0.0], "source_tool_goal_m": [0.04629634885339422, -0.2489031389682997, 0.08430023962940424], "target_tool_goal_m": [0.20895320365640951, 0.043471612639831715, 0.1601147659789428], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7880, "api_command_sequence": 197, "api_accepted_sequence": 197, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.17260870540928136, "joint2": 1.455158658451538, "joint3": 1.358838428322925, "joint4": -1.3995292747223356, "joint5": -0.03748274369541585, "joint6": 0.013822806193581358, "gripper": 0.0}, "target_simulation_time": 15.84000000000196, "target_positions": {"joint1": 0.16501784782773427, "joint2": 1.4582502929888066, "joint3": 1.358918015464095, "joint4": -1.39588226314785, "joint5": -0.025263513620041648, "joint6": 0.010838433527338901, "gripper": 0.008080643796640502}, "target_object": {"position_m": [0.21183464866609183, 0.03991959785171837, 0.15650304367174647], "quaternion_wxyz": [0.6494956032809853, -0.022885503621338777, -0.046708226517816004, 0.758584244905091], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06791500419068795}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06701317771679774}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06763720349708352}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06673543100760705}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06728997777677392}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06638827243384395}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06773626910456407}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06683462302263608}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06801401912763635}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06711232156378137}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06836123078733833}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06745946853757209}], "left_finger_force_n": 0.40297906662279415, "right_finger_force_n": 0.40551793214352827, "bilateral_contact": true, "supported": false, "lift_m": 0.05638167464386401}, "target_sequence": 7920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 198, "source_target": [0.22523844242095947, -1.5178625583648682, 1.5158870220184326, 1.5015325546264648, -1.778594970703125, 0.0], "source_tool_goal_m": [0.04294425042719095, -0.250151077303269, 0.08422217637396358], "target_tool_goal_m": [0.20654790472367124, 0.04603563924179514, 0.16003670272350218], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7920, "api_command_sequence": 198, "api_accepted_sequence": 198, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.18417015403885093, "joint2": 1.453081597015384, "joint3": 1.3560711809999535, "joint4": -1.4042095778676316, "joint5": -0.04004866893248889, "joint6": 0.014744836283187287, "gripper": 0.0}, "target_simulation_time": 15.920000000001986, "target_positions": {"joint1": 0.17758550870046513, "joint2": 1.4572081212757944, "joint3": 1.358224613492747, "joint4": -1.3986626490174587, "joint5": -0.02792647867470031, "joint6": 0.011673234686536981, "gripper": 0.008081534114421115}, "target_object": {"position_m": [0.21038314510557, 0.04290087011668466, 0.156632770201941], "quaternion_wxyz": [0.6450551071531224, -0.020791284519016965, -0.04677595141106395, 0.7624195968056638], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0681249954336659}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06726970601572299}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06775319897542917}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06689797719119417}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06728849710384982}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06643335931466236}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06746647790020406}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0666115149628536}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06783814579039385}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0669831191738837}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06830277212333083}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06744766536179797}], "left_finger_force_n": 0.40376773403452443, "right_finger_force_n": 0.40464969531246403, "bilateral_contact": true, "supported": false, "lift_m": 0.056511401174058534}, "target_sequence": 7960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 199, "source_target": [0.21623261272907257, -1.5175065994262695, 1.515289068222046, 1.501562476158142, -1.7679654359817505, 0.010937499813735485], "source_tool_goal_m": [0.04111240880396601, -0.2506405023563352, 0.08424782559337601], "target_tool_goal_m": [0.20540798968690166, 0.04751000548626357, 0.1600623519429146], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 7960, "api_command_sequence": 199, "api_accepted_sequence": 199, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.19259353629152612, "joint2": 1.4524621523403014, "joint3": 1.3553554571254804, "joint4": -1.4065443505138284, "joint5": -0.039547710249407585, "joint6": 0.01473969324742979, "gripper": 0.0005863124900151576}, "target_simulation_time": 16.00000000000201, "target_positions": {"joint1": 0.1885818473004334, "joint2": 1.4561125814847868, "joint3": 1.3569141317518443, "joint4": -1.4019160661831105, "joint5": -0.029680892693640267, "joint6": 0.012351223992896706, "gripper": 0.008087080593292275}, "target_object": {"position_m": [0.2087206260868911, 0.04534246648323855, 0.15664355066489483], "quaternion_wxyz": [0.6411381136290731, -0.018729502731166137, -0.04608845645128483, 0.7658113208627405], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06317380683907303}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06232027146668048}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06323942623394321}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06238588030901608}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06332145164526788}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06246789251390049}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06345489479487652}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06260108670158382}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06338925546818307}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06253545776615532}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06330720745846409}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06245342272973614}], "left_finger_force_n": 0.3769087290078812, "right_finger_force_n": 0.377741324918999, "bilateral_contact": true, "supported": false, "lift_m": 0.056522181637012364}, "target_sequence": 8000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 200, "source_target": [0.1949707269668579, -1.5198289155960083, 1.5181082487106323, 1.5003770589828491, -1.7491331100463867, 0.0], "source_tool_goal_m": [0.036706674064518635, -0.25139524641447963, 0.08427163466660523], "target_tool_goal_m": [0.2030492329225649, 0.05121652522552699, 0.1600861610161438], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8000, "api_command_sequence": 200, "api_accepted_sequence": 200, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.20768175808813538, "joint2": 1.450965742957725, "joint3": 1.3534909152918222, "joint4": -1.4107542338477221, "joint5": -0.044544396235615076, "joint6": 0.016274893971204324, "gripper": 0.0}, "target_simulation_time": 16.080000000001966, "target_positions": {"joint1": 0.19985082490595796, "joint2": 1.455062776796007, "joint3": 1.3553648469692008, "joint4": -1.4057574908366155, "joint5": -0.03198306131096563, "joint6": 0.013169483028155364, "gripper": 0.008082826735748724}, "target_object": {"position_m": [0.20683188258722127, 0.04782551758419607, 0.15661279232821268], "quaternion_wxyz": [0.6372164924330456, -0.0162040956703451, -0.04522368223700047, 0.7691861852762047], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06737788090056972}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06662707787318815}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06713160889000153}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06638084638268492}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06682378926345026}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06607307718005066}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06751110927670792}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06676060931437729}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06775727895412142}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06700674099038764}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06806501029216264}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06731442460095799}], "left_finger_force_n": 0.4004142804899452, "right_finger_force_n": 0.4044151734287149, "bilateral_contact": true, "supported": false, "lift_m": 0.05649142330033022}, "target_sequence": 8040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 201, "source_target": [0.17843526601791382, -1.521701455116272, 1.5203624963760376, 1.5000293254852295, -1.7337868213653564, 0.0], "source_tool_goal_m": [0.0332552849421051, -0.2518275918399794, 0.08428706032552173], "target_tool_goal_m": [0.20134545468049106, 0.05418056221142511, 0.1601015866750603], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8040, "api_command_sequence": 201, "api_accepted_sequence": 201, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.22029362711139627, "joint2": 1.450328233597212, "joint3": 1.3524995355506584, "joint4": -1.4136653976035483, "joint5": -0.047997646516940815, "joint6": 0.01739957746304463, "gripper": 0.0}, "target_simulation_time": 16.160000000001922, "target_positions": {"joint1": 0.21317972245692637, "joint2": 1.4540937119949222, "joint3": 1.3538141314651022, "joint4": -1.4091770652160185, "joint5": -0.03521968408841189, "joint6": 0.014068702876293344, "gripper": 0.00808195896646663}, "target_object": {"position_m": [0.20486228426624908, 0.05088319083296824, 0.1565653448480194], "quaternion_wxyz": [0.6324765758330997, -0.013361616884938577, -0.04474589339808222, 0.7731705201575297], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06791125101381379}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06721074706601948}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06750155217407768}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06680110979391332}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06698948248003178}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06628911650503233}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06743705974881226}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06673682632078896}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06784661706757639}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06714632565000472}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06835861488469772}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06765825042687243}], "left_finger_force_n": 0.4027032590328884, "right_finger_force_n": 0.4051836940987525, "bilateral_contact": true, "supported": false, "lift_m": 0.05644397582013694}, "target_sequence": 8080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 202, "source_target": [0.16400092840194702, -1.5229710340499878, 1.5211926698684692, 1.498539686203003, -1.7169584035873413, 0.0], "source_tool_goal_m": [0.030294189366142574, -0.25249936850180077, 0.08441376263493397], "target_tool_goal_m": [0.19961101735411485, 0.05660918271539225, 0.16022828898447256], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8080, "api_command_sequence": 202, "api_accepted_sequence": 202, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.23192125327551566, "joint2": 1.449170059255394, "joint3": 1.3515373686532737, "joint4": -1.4168180036901314, "joint5": -0.04999138291365859, "joint6": 0.017968240386896348, "gripper": 0.0}, "target_simulation_time": 16.240000000001878, "target_positions": {"joint1": 0.22618673107115295, "joint2": 1.4532888407232176, "joint3": 1.3527172355492143, "joint4": -1.4120087286661809, "joint5": -0.03813479998437721, "joint6": 0.014911817651156064, "gripper": 0.008081731126746334}, "target_object": {"position_m": [0.20312210267119654, 0.05384946868508475, 0.15657159268660611], "quaternion_wxyz": [0.627781154111243, -0.01093423218158326, -0.04448242371471836, 0.7770409121081203], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06771192793105354}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06703568257541642}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06750699749468766}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06683078201663233}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06725084819644431}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06657466992786336}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06767474872921735}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06699856489830036}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0678796620302391}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06720344950241024}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06813581692312748}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06745956838683086}], "left_finger_force_n": 0.4029109081420976, "right_finger_force_n": 0.40535181047012536, "bilateral_contact": true, "supported": false, "lift_m": 0.05645022365872365}, "target_sequence": 8120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 203, "source_target": [0.14617109298706055, -1.5237634181976318, 1.522332787513733, 1.4969428777694702, -1.7006524801254272, 0.0], "source_tool_goal_m": [0.026608910459188867, -0.2531730752259849, 0.08441149051916196], "target_tool_goal_m": [0.19759956370478948, 0.059693476758077214, 0.16022601686870053], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8120, "api_command_sequence": 203, "api_accepted_sequence": 203, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.24563546867469263, "joint2": 1.4482838420031714, "joint3": 1.3501711013844964, "joint4": -1.4199936255915069, "joint5": -0.05352360323787893, "joint6": 0.018972967183182643, "gripper": 0.0}, "target_simulation_time": 16.320000000001833, "target_positions": {"joint1": 0.23886519658253494, "joint2": 1.4523723421181554, "joint3": 1.351675659193828, "joint4": -1.414999077427527, "joint5": -0.04109018781566749, "joint6": 0.015776036007424547, "gripper": 0.008081306281507298}, "target_object": {"position_m": [0.2013323995780595, 0.05670243929612718, 0.15662167332174873], "quaternion_wxyz": [0.6232146053156017, -0.008513815535417952, -0.044207752554601513, 0.7807539595035169], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06751264608528092}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06689292993040685}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06733329028807539}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06671359886115755}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06710910668342199}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06648944606432365}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06782600002556098}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06720636648873557}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06800532980025982}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06738567258657092}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06822950273781456}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.067609815825987}], "left_finger_force_n": 0.40205101791266634, "right_finger_force_n": 0.4062626874649289, "bilateral_contact": true, "supported": false, "lift_m": 0.056500304293866266}, "target_sequence": 8160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 204, "source_target": [0.1292593628168106, -1.5244526863098145, 1.52466881275177, 1.498401403427124, -1.6806793212890625, 0.004101562313735485], "source_tool_goal_m": [0.02301957168879929, -0.2531402815626943, 0.08418491881482608], "target_tool_goal_m": [0.19626495670630315, 0.06295935517143283, 0.15999944516436465], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8160, "api_command_sequence": 204, "api_accepted_sequence": 204, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.25932086099995244, "joint2": 1.4489315525593927, "joint3": 1.3494008727066495, "joint4": -1.4209507364726153, "joint5": -0.057346382512929624, "joint6": 0.020072346172149216, "gripper": 0.00021986717751515766}, "target_simulation_time": 16.40000000000179, "target_positions": {"joint1": 0.25224039094270084, "joint2": 1.4518656320637455, "joint3": 1.3507397957293055, "joint4": -1.4164033419665298, "joint5": -0.04447878054039958, "joint6": 0.016688851049292693, "gripper": 0.008083347893810228}, "target_object": {"position_m": [0.1998486963633078, 0.059833829451692716, 0.15657994726449834], "quaternion_wxyz": [0.6183432622040759, -0.006289848239048248, -0.04453273953638746, 0.7846202157766112], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06578720967446065}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06522398463969928}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06557904173150463}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06501584200194307}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0653188463125218}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06475567808989335}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06611633410215703}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06555309396003331}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06632450965383621}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06576124501431817}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06658474321174876}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06602144782603973}], "left_finger_force_n": 0.3916806024500228, "right_finger_force_n": 0.3963613737681332, "bilateral_contact": true, "supported": false, "lift_m": 0.056458578236615875}, "target_sequence": 8200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 205, "source_target": [0.11204090714454651, -1.527742862701416, 1.5265401601791382, 1.4993727207183838, -1.666595220565796, 0.0068359375], "source_tool_goal_m": [0.01940224985087209, -0.25325817773135606, 0.08449366910151358], "target_tool_goal_m": [0.19478312635508585, 0.06619331951690587, 0.16030819545105218], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8200, "api_command_sequence": 205, "api_accepted_sequence": 205, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.2731160006501121, "joint2": 1.4477221359972847, "joint3": 1.349350959258253, "joint4": -1.4224226924750003, "joint5": -0.061140293593677196, "joint6": 0.021091296672227575, "gripper": 0.0003664453125}, "target_simulation_time": 16.480000000001745, "target_positions": {"joint1": 0.2661097226450818, "joint2": 1.4517425582439616, "joint3": 1.3503380811755814, "joint4": -1.4173764432559894, "joint5": -0.04815290653508767, "joint6": 0.017626861473987763, "gripper": 0.008085316229026371}, "target_object": {"position_m": [0.19851027784052372, 0.0631488512295617, 0.15657105772747792], "quaternion_wxyz": [0.6132431450108965, -0.004113115881362289, -0.0451504476845448, 0.7885920139392587], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06444091146248651}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06392729599461207}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0642796261756469}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0637660285504753}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06407802843319173}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0635644530403166}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06494514530561543}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06443144434077147}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0651064585670781}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0645927401631413}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06530810884635638}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06479436857251201}], "left_finger_force_n": 0.38405634365672914, "right_finger_force_n": 0.3891782657954747, "bilateral_contact": true, "supported": false, "lift_m": 0.05644968869959546}, "target_sequence": 8240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 206, "source_target": [0.09460268169641495, -1.5273048877716064, 1.5283313989639282, 1.499351143836975, -1.650119423866272, 0.0], "source_tool_goal_m": [0.01574595363870131, -0.2533585097829221, 0.08416012714680726], "target_tool_goal_m": [0.19330240188046077, 0.06946928687087246, 0.15997465349634585], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8240, "api_command_sequence": 206, "api_accepted_sequence": 206, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.2871638557598733, "joint2": 1.4484605983438936, "joint3": 1.3481713736339438, "joint4": -1.423060661824945, "joint5": -0.06494612463822201, "joint6": 0.022064584598187623, "gripper": 0.0}, "target_simulation_time": 16.5600000000017, "target_positions": {"joint1": 0.28017595057524325, "joint2": 1.4516526153605898, "joint3": 1.3498159107882046, "joint4": -1.418226623733918, "joint5": -0.05193041005722676, "joint6": 0.018573334341267927, "gripper": 0.008082201647664418}, "target_object": {"position_m": [0.19711112303942213, 0.0664956428900581, 0.1565345783801852], "quaternion_wxyz": [0.608039489871167, -0.0018797098633860693, -0.0457675016168901, 0.7925842423640461], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06698951924434202}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06651993934285089}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06690898737882733}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06643941668827989}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06680832526368863}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0663387660675079}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06779053254860276}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06732084419981488}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06787108157111756}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06740138416557785}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06797177052899545}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06750206178325437}], "left_finger_force_n": 0.4000049539854966, "right_finger_force_n": 0.40585767479736284, "bilateral_contact": true, "supported": false, "lift_m": 0.056413209352302734}, "target_sequence": 8280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 207, "source_target": [0.07811350375413895, -1.529083251953125, 1.5302127599716187, 1.500603199005127, -1.6332807540893555, 0.0], "source_tool_goal_m": [0.012280698852958228, -0.2532560679624293, 0.08419526658528084], "target_tool_goal_m": [0.19207808982989863, 0.07264916802032313, 0.16000979293481943], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8280, "api_command_sequence": 207, "api_accepted_sequence": 207, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.3007965102899569, "joint2": 1.4485051817264176, "joint3": 1.3481145943236061, "joint4": -1.423359172448018, "joint5": -0.06841049010432299, "joint6": 0.02292887099249786, "gripper": 0.0}, "target_simulation_time": 16.640000000001656, "target_positions": {"joint1": 0.2941173589268512, "joint2": 1.4515924445019392, "joint3": 1.3492650357238767, "joint4": -1.4190095340062387, "joint5": -0.0555907538263231, "joint6": 0.019504214898177243, "gripper": 0.008081193426295485}, "target_object": {"position_m": [0.1956782425243589, 0.06977743569850452, 0.15648224883554376], "quaternion_wxyz": [0.6028504606996883, 0.00031738880226112205, -0.04631428691381948, 0.796508762115136], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06694494232375797}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06651528695004148}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06698200748846443}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06655235025662744}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06702833906333977}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06659867950813829}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06813639418568637}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06770659578533253}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06809931554592905}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06766951897413935}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06805296736308192}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06762317307624807}], "left_finger_force_n": 0.4006216055903694, "right_finger_force_n": 0.4072879649304173, "bilateral_contact": true, "supported": false, "lift_m": 0.0563608798076613}, "target_sequence": 8320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 208, "source_target": [0.06473203003406525, -1.5305899381637573, 1.532546043395996, 1.4971612691879272, -1.6189820766448975, 0.0027343749534338713], "source_tool_goal_m": [0.009511103481153424, -0.2536900058648887, 0.08416414117612787], "target_tool_goal_m": [0.1906320224840632, 0.07499461487554639, 0.15997866752566647], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8320, "api_command_sequence": 208, "api_accepted_sequence": 208, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.3123807534691664, "joint2": 1.4481553148547885, "joint3": 1.347335444750577, "joint4": -1.4246793853870194, "joint5": -0.07019199725698293, "joint6": 0.023358239957054404, "gripper": 0.0001465781225037894}, "target_simulation_time": 16.720000000001612, "target_positions": {"joint1": 0.30693354671540735, "joint2": 1.4515205841099814, "joint3": 1.3487475831902693, "joint4": -1.4198514251757437, "joint5": -0.058433493124381425, "joint6": 0.020336704303298515, "gripper": 0.008082539927606306}, "target_object": {"position_m": [0.19430846987522973, 0.07268745692019864, 0.15643740523921207], "quaternion_wxyz": [0.5980440561146061, 0.0021662638589955412, -0.046597319349568886, 0.8001045582149361], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06549703394800963}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06508559118398194}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06579035413204241}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06537888825243811}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06615702712694883}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06574553220922891}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06736579426963955}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0669541488109288}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0670723462013284}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0666607237704041}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06670555867524332}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06629396488539296}], "left_finger_force_n": 0.39365442685264984, "right_finger_force_n": 0.40105253661293716, "bilateral_contact": true, "supported": false, "lift_m": 0.056316036211329606}, "target_sequence": 8360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 209, "source_target": [0.04828149452805519, -1.531151533126831, 1.5332413911819458, 1.4976482391357422, -1.601986050605774, 0.00820312462747097], "source_tool_goal_m": [0.006073265205534332, -0.2537305519463179, 0.0841625680900339], "target_tool_goal_m": [0.1892885259362966, 0.07809529476882043, 0.15997709443957248], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8360, "api_command_sequence": 209, "api_accepted_sequence": 209, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.32586963471549896, "joint2": 1.4482405641645846, "joint3": 1.3471281571632583, "joint4": -1.4250763558363126, "joint5": -0.07360324846017165, "joint6": 0.024342442723325985, "gripper": 0.0004397343550303153}, "target_simulation_time": 16.800000000001567, "target_positions": {"joint1": 0.31922018110671396, "joint2": 1.451454834008946, "joint3": 1.3482976932908965, "joint4": -1.420648027674142, "joint5": -0.061215257723628735, "joint6": 0.02118431886793704, "gripper": 0.008085458340845859}, "target_object": {"position_m": [0.19296574493466884, 0.07545611085989497, 0.15640437369809163], "quaternion_wxyz": [0.5934550828184842, 0.003951041625215223, -0.046877312626272385, 0.8034911147660069], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0629825701097729}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0626313843384305}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06327889032102098}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06292768548691786}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06364931228128437}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06329808349755124}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0651992723893944}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06484793335487761}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06490283876065643}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06455151862137623}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06453231810987196}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06418102146848521}], "left_finger_force_n": 0.3787679260349779, "right_finger_force_n": 0.38821490270466186, "bilateral_contact": true, "supported": false, "lift_m": 0.056283004670209164}, "target_sequence": 8400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 210, "source_target": [0.032284025102853775, -1.5329872369766235, 1.5347175598144531, 1.4983330965042114, -1.5853101015090942, 0.0], "source_tool_goal_m": [0.00272905189795834, -0.2536122459489642, 0.08427169603367651], "target_tool_goal_m": [0.18812460200758746, 0.0811714927651126, 0.1600862223832151], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8400, "api_command_sequence": 210, "api_accepted_sequence": 210, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.3389422987053648, "joint2": 1.448299197255438, "joint3": 1.347453504325613, "joint4": -1.425069390702357, "joint5": -0.0770656137731004, "joint6": 0.025373001296307415, "gripper": 0.0}, "target_simulation_time": 16.880000000001523, "target_positions": {"joint1": 0.332117511133318, "joint2": 1.4513946368930828, "joint3": 1.3481766771333021, "joint4": -1.4213206365164648, "joint5": -0.064346386221621, "joint6": 0.022070401312798433, "gripper": 0.008082142254360589}, "target_object": {"position_m": [0.19161208040276928, 0.07840461078791643, 0.15644360554669695], "quaternion_wxyz": [0.5886013877572494, 0.005770650913336029, -0.047415351728801854, 0.8070110843964351], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0661933475541077}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06589704756267956}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06643255137678444}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06613623815548035}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06673157014828018}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06643524032611513}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06834711358686217}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06805068206902892}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06810781428849157}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06781139590967632}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06780870400048004}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06751230198191746}], "left_finger_force_n": 0.39782599512344735, "right_finger_force_n": 0.4076380118364565, "bilateral_contact": true, "supported": false, "lift_m": 0.05632223651881449}, "target_sequence": 8440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 211, "source_target": [0.016105638816952705, -1.5324896574020386, 1.536270022392273, 1.4960623979568481, -1.5702873468399048, 0.004101562313735485], "source_tool_goal_m": [-0.0006407937905603617, -0.2537877308607204, 0.08398567618289936], "target_tool_goal_m": [0.18668463995972304, 0.0841592523371636, 0.15980020253243793], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8440, "api_command_sequence": 211, "api_accepted_sequence": 211, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.3521595274637215, "joint2": 1.4491734110963939, "joint3": 1.3466469630072821, "joint4": -1.4252312257422783, "joint5": -0.08042466254296292, "joint6": 0.026321314341581626, "gripper": 0.00021986717751515766}, "target_simulation_time": 16.96000000000148, "target_positions": {"joint1": 0.34539948345200844, "joint2": 1.4513563498128021, "joint3": 1.34799109672939, "joint4": -1.4218895468610244, "joint5": -0.06766146358872908, "joint6": 0.022972130681043926, "gripper": 0.008083129591967105}, "target_object": {"position_m": [0.19018570625720055, 0.08144319561701538, 0.15646793839171574], "quaternion_wxyz": [0.5835700825321603, 0.007674228537555927, -0.047993473048000876, 0.8106069895668009], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06462117503071418}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.064371439284373}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06488537076190347}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06463562281721308}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06521563238271975}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06496586912371091}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06690221266068155}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06665234946140663}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06663789598820423}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06638804496139906}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0663075169847077}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06605768110711442}], "left_finger_force_n": 0.3886951094006344, "right_finger_force_n": 0.3989457011635136, "bilateral_contact": true, "supported": false, "lift_m": 0.05634656936383328}, "target_sequence": 8480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 212, "source_target": [0.0020391810685396194, -1.5346887111663818, 1.5389503240585327, 1.497481107711792, -1.5550094842910767, 0.0], "source_tool_goal_m": [-0.003575178996792709, -0.253289061753652, 0.0839755665804832], "target_tool_goal_m": [0.18602125942252945, 0.08700855650096265, 0.15979009293002178], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8480, "api_command_sequence": 212, "api_accepted_sequence": 212, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.36431705776885204, "joint2": 1.4501186629929788, "joint3": 1.3474478408414237, "joint4": -1.423805689461797, "joint5": -0.08287877547641355, "joint6": 0.027002612227327905, "gripper": 0.0}, "target_simulation_time": 17.040000000001434, "target_positions": {"joint1": 0.35831515508184475, "joint2": 1.451352840707826, "joint3": 1.347901543850819, "joint4": -1.4221711387602, "joint5": -0.0706616521790989, "joint6": 0.023832851620869733, "gripper": 0.00808138804328639}, "target_object": {"position_m": [0.1888435149318864, 0.08437371595614962, 0.15649422791765133], "quaternion_wxyz": [0.5786346767603835, 0.00935517485495898, -0.04860009640406144, 0.8140837930970961], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06601636071384964}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06580046303239977}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06641810492306796}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06620219034801529}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06692032774605661}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06670439191173903}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06868032302149614}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0684642833016616}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06827834870153902}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06806232599726994}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06777592336332448}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06755992178629183}], "left_finger_force_n": 0.3980618386751283, "right_finger_force_n": 0.408821126171583, "bilateral_contact": true, "supported": false, "lift_m": 0.05637285888976887}, "target_sequence": 8520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 213, "source_target": [-0.014688012190163136, -1.5359917879104614, 1.54058837890625, 1.4953639507293701, -1.5393924713134766, 0.013671875], "source_tool_goal_m": [-0.007056543708135745, -0.25338801774735253, 0.08399543229981599], "target_tool_goal_m": [0.18460827484630746, 0.09012648720451008, 0.15980995864935457], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8520, "api_command_sequence": 213, "api_accepted_sequence": 213, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.37791415231830877, "joint2": 1.4503084092407936, "joint3": 1.3474483567368856, "joint4": -1.4237836918859597, "joint5": -0.08643229942421653, "joint6": 0.028011334592014044, "gripper": 0.000732890625}, "target_simulation_time": 17.12000000000139, "target_positions": {"joint1": 0.3711081660267365, "joint2": 1.4513574640783156, "joint3": 1.3478369482650412, "joint4": -1.4223646590880035, "joint5": -0.07373837706513045, "joint6": 0.024715092646694227, "gripper": 0.008087662428874515}, "target_object": {"position_m": [0.18749261630172745, 0.08727954999539117, 0.1565251285469961], "quaternion_wxyz": [0.5737456148252698, 0.01103956558803377, -0.049254055514370794, 0.8174766880320116], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06037965297691577}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06022083464523533}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06078405729973355}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06062522731112409}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06128960199133942}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06113075732612233}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06329073936027081}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06313182088461183}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06288611350744158}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06272720675982987}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.062380370407336204}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06222147821434141}], "left_finger_force_n": 0.3644301315504705, "right_finger_force_n": 0.3766377291338317, "bilateral_contact": true, "supported": false, "lift_m": 0.05640375951911364}, "target_sequence": 8560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 214, "source_target": [-0.03191389515995979, -1.53651762008667, 1.5389403104782104, 1.495733380317688, -1.521220088005066, 0.004101562313735485], "source_tool_goal_m": [-0.010647408733821856, -0.253511707409101, 0.08433057683718385], "target_tool_goal_m": [0.1831312496238598, 0.09333426867992252, 0.16014510318672243], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8560, "api_command_sequence": 214, "api_accepted_sequence": 214, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.3917113547983222, "joint2": 1.44971371090985, "joint3": 1.3481356087437146, "joint4": -1.4240413773068135, "joint5": -0.09036336144805875, "joint6": 0.02911954390898585, "gripper": 0.00021986717751515766}, "target_simulation_time": 17.200000000001346, "target_positions": {"joint1": 0.38457789385725694, "joint2": 1.451346613213032, "joint3": 1.347796694265557, "joint4": -1.4225612084638664, "joint5": -0.07724578621503315, "joint6": 0.025643698860929515, "gripper": 0.00808474501745432}, "target_object": {"position_m": [0.18601552821104342, 0.09035446907220027, 0.15657158721845518], "quaternion_wxyz": [0.568571651977548, 0.012920128495896991, -0.050015204318608945, 0.8210102473076318], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06390145788021558}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06379953982919653}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06425531310111966}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06415338817633812}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0646976625127512}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06459572894448384}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06679297646942133}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0666909919849136}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06643892046957255}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06633694291108588}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0659963808791199}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06589441192686277}], "left_finger_force_n": 0.3854030904441049, "right_finger_force_n": 0.398150624640976, "bilateral_contact": true, "supported": false, "lift_m": 0.05645021819057272}, "target_sequence": 8600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 215, "source_target": [-0.04780837520956993, -1.538183569908142, 1.5425270795822144, 1.4973928928375244, -1.5048577785491943, 0.0], "source_tool_goal_m": [-0.013921965632229161, -0.25266450642709054, 0.08408972563794917], "target_tool_goal_m": [0.18265448041824042, 0.09662438722101821, 0.15990425198748776], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8600, "api_command_sequence": 215, "api_accepted_sequence": 215, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.4047477674366011, "joint2": 1.45179924512115, "joint3": 1.3490504061430912, "joint4": -1.4209631629459272, "joint5": -0.09355069662037377, "joint6": 0.02997916035586666, "gripper": 0.0}, "target_simulation_time": 17.2800000000013, "target_positions": {"joint1": 0.39820229579794236, "joint2": 1.4513916344669944, "joint3": 1.3477899208981081, "joint4": -1.4222861953003767, "joint5": -0.08074516708330776, "joint6": 0.026564211201449597, "gripper": 0.008081536103295418}, "target_object": {"position_m": [0.18458564313146397, 0.09348531437632006, 0.15660281980175164], "quaternion_wxyz": [0.5632856792988354, 0.014695076408334156, -0.0509332173282389, 0.8245599466374754], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0656545018460064}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06559324963457362}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06609911751146479}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06603785967821581}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06665493811297644}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06659367320008666}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06879411591952589}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06873281276753984}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06834918733620828}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06828788990834384}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06779307813165818}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06773178780657008}], "left_finger_force_n": 0.39663333998332373, "right_finger_force_n": 0.4096888718698461, "bilateral_contact": true, "supported": false, "lift_m": 0.05648145077386918}, "target_sequence": 8640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 216, "source_target": [-0.06580749154090881, -1.5400663614273071, 1.5457764863967896, 1.4938355684280396, -1.4862687587738037, 0.0], "source_tool_goal_m": [-0.01766132329208177, -0.2525812652096687, 0.08399385473409524], "target_tool_goal_m": [0.18130857642167628, 0.10004541973856035, 0.15980838108363382], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8640, "api_command_sequence": 216, "api_accepted_sequence": 216, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.4190961178928319, "joint2": 1.4526025586837377, "joint3": 1.3491674283733717, "joint4": -1.4196930051995589, "joint5": -0.09762286105599921, "joint6": 0.031057236486596706, "gripper": 0.0}, "target_simulation_time": 17.360000000001257, "target_positions": {"joint1": 0.4119463086753978, "joint2": 1.4514671949546196, "joint3": 1.347791747414692, "joint4": -1.4218020156289777, "joint5": -0.08440950854634686, "joint6": 0.02751183668357351, "gripper": 0.008080381860990372}, "target_object": {"position_m": [0.18313579314372838, 0.09666073023703513, 0.15662816428266688], "quaternion_wxyz": [0.5579377810699908, 0.01650298823008356, -0.05195203353385518, 0.82809061704977], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06563149117574213}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06562643393312549}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06609639760113721}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0660913393271258}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06667758612361968}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06667252655032453}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06902454492610237}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06901948082772057}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0685593008428123}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0685542377988892}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06797780185789021}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06797274012196249}], "left_finger_force_n": 0.39679577471107486, "right_finger_force_n": 0.4111081063753771, "bilateral_contact": true, "supported": false, "lift_m": 0.056506795254784414}, "target_sequence": 8680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 217, "source_target": [-0.08283070474863052, -1.5407930612564087, 1.5461106300354004, 1.4934253692626953, -1.469338297843933, 0.0], "source_tool_goal_m": [-0.02119135824241376, -0.25235637903931185, 0.0840834735300599], "target_tool_goal_m": [0.1801706258096339, 0.10333056020163475, 0.1598979998795985], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8680, "api_command_sequence": 217, "api_accepted_sequence": 217, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.43278487092127527, "joint2": 1.453081107523815, "joint3": 1.3499163436451567, "joint4": -1.418101810074301, "joint5": -0.10126889627277731, "joint6": 0.032006275213515664, "gripper": 0.0}, "target_simulation_time": 17.440000000001213, "target_positions": {"joint1": 0.42593003509910876, "joint2": 1.4516264721912129, "joint3": 1.3478192198778511, "joint4": -1.4211424060478852, "joint5": -0.08815290220072011, "joint6": 0.02846309842150517, "gripper": 0.008080131913105894}, "target_object": {"position_m": [0.1816496814922617, 0.09989484115725301, 0.15664228923395102], "quaternion_wxyz": [0.5524567507046315, 0.018336410093320984, -0.05301595834247666, 0.831651743716562], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06551567917878674}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06555631263456826}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06604144600339129}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06608208279797272}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0666987263410595}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06673936734596699}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06912366793845258}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0691643354360162}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0685974749432057}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06863813901720187}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06793980671846601}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06798046654990753}], "left_finger_force_n": 0.3966336143017455, "right_finger_force_n": 0.4114438906032499, "bilateral_contact": true, "supported": false, "lift_m": 0.05652092020606855}, "target_sequence": 8720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 218, "source_target": [-0.09815552085638046, -1.5423542261123657, 1.5485504865646362, 1.4930734634399414, -1.4528452157974243, 0.0], "source_tool_goal_m": [-0.024338088550249343, -0.2518242282208913, 0.08401249275638534], "target_tool_goal_m": [0.17945687965391868, 0.10638506275538255, 0.15982701910592392], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8720, "api_command_sequence": 218, "api_accepted_sequence": 218, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.44540567946209886, "joint2": 1.4543183935075559, "joint3": 1.3508095669143976, "joint4": -1.415444133497133, "joint5": -0.10394098835077017, "joint6": 0.03268479545422787, "gripper": 0.0}, "target_simulation_time": 17.52000000000117, "target_positions": {"joint1": 0.4393184946493297, "joint2": 1.4521953483193761, "joint3": 1.347882708665399, "joint4": -1.419889222747357, "joint5": -0.09145007094804647, "joint6": 0.029361659834952508, "gripper": 0.008080128489700755}, "target_object": {"position_m": [0.18035550072569298, 0.10300808823460775, 0.15656669357537056], "quaternion_wxyz": [0.5471683374320533, 0.019922775385570992, -0.054042523202708456, 0.8350385016384951], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06525518950555964}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06532949535423356}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06595246151325637}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06602677626304115}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0668241813346759}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06689850734390759}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0693561940605494}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06943057630756695}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06865825899151876}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06873263201012289}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06778597315101309}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06786033476731355}], "left_finger_force_n": 0.39628661131467424, "right_finger_force_n": 0.4118239692880846, "bilateral_contact": true, "supported": false, "lift_m": 0.0564453245474881}, "target_sequence": 8760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 219, "source_target": [-0.11808272451162338, -1.544306993484497, 1.5510603189468384, 1.4910728931427002, -1.4363009929656982, 0.0], "source_tool_goal_m": [-0.028450126694424226, -0.25136647481401464, 0.08401927017473847], "target_tool_goal_m": [0.1783087790035297, 0.11028625124160664, 0.15983379652427704], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8760, "api_command_sequence": 219, "api_accepted_sequence": 219, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.4606279347967247, "joint2": 1.455486977323428, "joint3": 1.3518360173062742, "joint4": -1.4126735519368525, "joint5": -0.1087338330005893, "joint6": 0.033989840364581886, "gripper": 0.0}, "target_simulation_time": 17.600000000001124, "target_positions": {"joint1": 0.45297399434774854, "joint2": 1.4533222807774104, "joint3": 1.3480536707353894, "joint4": -1.417017945565965, "joint5": -0.09516959287526809, "joint6": 0.03032959852660454, "gripper": 0.008079649543420586}, "target_object": {"position_m": [0.17935343716525715, 0.10639629717315811, 0.15636726728953776], "quaternion_wxyz": [0.541756106144635, 0.021413766224967275, -0.055638802482817, 0.8384188068795586], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06512893409011854}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06527810755981625}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06576003491991537}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06590922501037771}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06654901377539751}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06669822486417153}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06940154567321652}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06955088718375187}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06876979393677943}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0689191180926556}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06798021047576497}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06812951316099519}], "left_finger_force_n": 0.39532354021979693, "right_finger_force_n": 0.41275106852316357, "bilateral_contact": true, "supported": false, "lift_m": 0.0562458982616553}, "target_sequence": 8800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 220, "source_target": [-0.13161271810531616, -1.544405460357666, 1.5533413887023926, 1.4917055368423462, -1.4208018779754639, 0.0], "source_tool_goal_m": [-0.031180113159822484, -0.250600944518824, 0.08370011151434016], "target_tool_goal_m": [0.17796497749222234, 0.1130517220092305, 0.15951463786387876], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8800, "api_command_sequence": 220, "api_accepted_sequence": 220, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.4718094653943518, "joint2": 1.4573385056443922, "joint3": 1.3523640298680273, "joint4": -1.4086607614892834, "joint5": -0.11042558248774219, "joint6": 0.034427617860478384, "gripper": 0.0}, "target_simulation_time": 17.68000000000108, "target_positions": {"joint1": 0.4662731346940936, "joint2": 1.4550315385425503, "joint3": 1.3484457354072128, "joint4": -1.4127519847602215, "joint5": -0.09827139870437139, "joint6": 0.031206415032533068, "gripper": 0.008079937450746541}, "target_object": {"position_m": [0.17874382277384604, 0.10982412871174123, 0.15605606948009398], "quaternion_wxyz": [0.5363768224564223, 0.022391564558864836, -0.05751429974646895, 0.8417188529983337], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06488518655771792}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06505150485974938}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06577071738116518}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06593706226070144}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06687784113342159}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06704421975056293}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06962906322034092}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06979561982618084}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06874237730141472}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06890890558547721}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06763424045225382}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06780073385099256}], "left_finger_force_n": 0.3955665319433184, "right_finger_force_n": 0.4125109402366601, "bilateral_contact": true, "supported": false, "lift_m": 0.05593470045221152}, "target_sequence": 8840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 221, "source_target": [-0.1512102633714676, -1.5455552339553833, 1.5568983554840088, 1.491511344909668, -1.4048080444335938, 0.0054687499068677425], "source_tool_goal_m": [-0.035130416780493806, -0.24956578112857608, 0.08339063835115133], "target_tool_goal_m": [0.17740172351535777, 0.11702579004163861, 0.1592051647006899], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8840, "api_command_sequence": 221, "api_accepted_sequence": 221, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.4863964264778136, "joint2": 1.4596204429279667, "joint3": 1.3532926392385909, "joint4": -1.4032859697264708, "joint5": -0.11448643137309983, "joint6": 0.035567124956582326, "gripper": 0.0002931562450075788}, "target_simulation_time": 17.760000000001035, "target_positions": {"joint1": 0.479193959797751, "joint2": 1.4572958692138953, "joint3": 1.3491613728486302, "joint4": -1.407207046128757, "joint5": -0.1014344990230754, "joint6": 0.032118195282377936, "gripper": 0.008082283793551796}, "target_object": {"position_m": [0.17848135223095263, 0.11336952117699058, 0.15567597989229914], "quaternion_wxyz": [0.5311397560742367, 0.02314544087463911, -0.059841456322221064, 0.8448513763907558], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.062394076936557887}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06263309021716584}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06328897533556473}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06352802600033504}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0644078030164486}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06464690116434765}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06755871717999985}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06779807856502353}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06666263815453677}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06690195947396353}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06554275523445313}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06578202722664418}], "left_finger_force_n": 0.3808988726704198, "right_finger_force_n": 0.40024617583462097, "bilateral_contact": true, "supported": false, "lift_m": 0.05555461086441668}, "target_sequence": 8880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 222, "source_target": [-0.16272544860839844, -1.5464292764663696, 1.5570517778396606, 1.491294264793396, -1.389357089996338, 0.0], "source_tool_goal_m": [-0.03748732357525253, -0.24925007398225701, 0.08352930946221337], "target_tool_goal_m": [0.17679200776838133, 0.11928211681807574, 0.15934383581175196], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8880, "api_command_sequence": 222, "api_accepted_sequence": 222, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.4964271007458382, "joint2": 1.4594425063059162, "joint3": 1.3539629517160692, "joint4": -1.4006186468276636, "joint5": -0.11528593099082493, "joint6": 0.03583495504009783, "gripper": 0.0}, "target_simulation_time": 17.84000000000099, "target_positions": {"joint1": 0.49140522158124345, "joint2": 1.4591376171006425, "joint3": 1.3499764534940621, "joint4": -1.4038889246727198, "joint5": -0.1038094811930615, "joint6": 0.03291337760383445, "gripper": 0.008080595779360334}, "target_object": {"position_m": [0.17783827009955963, 0.11645114905691688, 0.1554464275296744], "quaternion_wxyz": [0.5261663582788064, 0.02398574051951627, -0.06126715380967164, 0.8478325209210908], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06425265356804422}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06450418284370434}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06540418690352254}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06565576920503408}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06684396299694415}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06709561293401632}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06990419997972708}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07015610425829244}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06875116222333975}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06900300998351949}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06731024038303196}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0675620188512874}], "left_finger_force_n": 0.3937563684512656, "right_finger_force_n": 0.4126867356791981, "bilateral_contact": true, "supported": false, "lift_m": 0.05532505850179195}, "target_sequence": 8920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 223, "source_target": [-0.1784815490245819, -1.5475505590438843, 1.5572985410690308, 1.4876461029052734, -1.3701163530349731, 0.0], "source_tool_goal_m": [-0.04079499469182509, -0.24925650079471845, 0.08373920936793325], "target_tool_goal_m": [0.17552891467633885, 0.12227778082960426, 0.15955373571747183], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8920, "api_command_sequence": 223, "api_accepted_sequence": 223, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.5092340916483757, "joint2": 1.4596427149558362, "joint3": 1.3549780615133982, "joint4": -1.399017683923598, "joint5": -0.11810011350494279, "joint6": 0.0367365196043032, "gripper": 0.0}, "target_simulation_time": 17.920000000000947, "target_positions": {"joint1": 0.5028678831575161, "joint2": 1.4596697194994075, "joint3": 1.350577069271098, "joint4": -1.4028970151225522, "joint5": -0.10603484758917957, "joint6": 0.03371163331747339, "gripper": 0.008079505571507304}, "target_object": {"position_m": [0.17664812764042373, 0.11902968535375781, 0.1554856695333266], "quaternion_wxyz": [0.5215643631728236, 0.025070697553009988, -0.06209795481204893, 0.8505797547558339], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06417841031837396}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0644879738396981}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06531722594562321}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06562685453712253}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06674109678523776}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06705080832721094}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07018142640441348}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0704913885209614}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06904136491757691}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0693512588262707}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06761664906610888}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06792645932976911}], "left_finger_force_n": 0.3934023697532665, "right_finger_force_n": 0.4146085470651005, "bilateral_contact": true, "supported": false, "lift_m": 0.055364300505444136}, "target_sequence": 8960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 224, "source_target": [-0.19712576270103455, -1.5500653982162476, 1.5595288276672363, 1.4898995161056519, -1.3543312549591064, 0.012304686941206455], "source_tool_goal_m": [-0.04447780924398052, -0.24795472608254507, 0.08383549695852106], "target_tool_goal_m": [0.1753089942967353, 0.12611073477260107, 0.15965002330805966], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 8960, "api_command_sequence": 224, "api_accepted_sequence": 224, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.5223919664768775, "joint2": 1.4620537871900894, "joint3": 1.3578435181475275, "joint4": -1.393927097009885, "joint5": -0.12175238240069314, "joint6": 0.037940585656564496, "gripper": 0.000659601532545473}, "target_simulation_time": 18.000000000000902, "target_positions": {"joint1": 0.5153098194783835, "joint2": 1.4602734258242236, "joint3": 1.3522899740633125, "joint4": -1.3988948278321571, "joint5": -0.10884147438386454, "joint6": 0.03459053887064034, "gripper": 0.008085770459819517}, "target_object": {"position_m": [0.17607231710589316, 0.12231540453883709, 0.15568843455205364], "quaternion_wxyz": [0.5164226601612122, 0.02548222577099096, -0.06476601533852952, 0.8535008233733247], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.059253313269377515}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.059636422482517285}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06023772733601021}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06062090063910304}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.061468482575645945}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.061851737465519536}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06499337438878663}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06537702277059619}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06400773293412898}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06439131268497143}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06277593099932063}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06315942643889237}], "left_finger_force_n": 0.3630685837681735, "right_finger_force_n": 0.38470480021669623, "bilateral_contact": true, "supported": false, "lift_m": 0.05556706552417118}, "target_sequence": 9000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 225, "source_target": [-0.2122194916009903, -1.5513964891433716, 1.5614981651306152, 1.4910203218460083, -1.340915322303772, 0.0068359375], "source_tool_goal_m": [-0.04744548734269258, -0.24691079215966966, 0.08377299255695503], "target_tool_goal_m": [0.1751271925085034, 0.12919747473277687, 0.15958751890649361], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9000, "api_command_sequence": 225, "api_accepted_sequence": 225, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.5337086364760881, "joint2": 1.463734457842036, "joint3": 1.3594357731867917, "joint4": -1.3888042148279782, "joint5": -0.12356087500081235, "joint6": 0.03856381871159622, "gripper": 0.0003664453125}, "target_simulation_time": 18.080000000000858, "target_positions": {"joint1": 0.5278452933735629, "joint2": 1.4615797936571349, "joint3": 1.354937376958187, "joint4": -1.392492528532273, "joint5": -0.1114635483212387, "joint6": 0.03542991729896547, "gripper": 0.008085065033595165}, "target_object": {"position_m": [0.17616982441065046, 0.12602800358626154, 0.15591032421566295], "quaternion_wxyz": [0.5110828519259573, 0.025194299593914175, -0.06857977779335626, 0.8564206792301411], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06099235245708323}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06141177423793105}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0621484340342195}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0625679401003257}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0635938738474368}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06401348754969967}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06702301242682356}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06744317132213774}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06586511607864556}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06628518250339613}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06441810847501866}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06483806159776134}], "left_finger_force_n": 0.37472786222669596, "right_finger_force_n": 0.395872652403783, "bilateral_contact": true, "supported": false, "lift_m": 0.05578895518778049}, "target_sequence": 9040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 226, "source_target": [-0.23008078336715698, -1.5526386499404907, 1.564674735069275, 1.4873731136322021, -1.3218159675598145, 0.004101562313735485], "source_tool_goal_m": [-0.05106868756178726, -0.24623084425815908, 0.08357448302087128], "target_tool_goal_m": [0.17436630176018575, 0.13274003313396882, 0.15938900937040987], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9040, "api_command_sequence": 226, "api_accepted_sequence": 226, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.5470319611762733, "joint2": 1.4653461799452532, "joint3": 1.3601853896903517, "joint4": -1.3837100812525114, "joint5": -0.12649555703144189, "joint6": 0.03947971254005479, "gripper": 0.00021986717751515766}, "target_simulation_time": 18.160000000000814, "target_positions": {"joint1": 0.5402616321133958, "joint2": 1.4631512279548038, "joint3": 1.356858865724488, "joint4": -1.3868611801632402, "joint5": -0.11405500085226755, "joint6": 0.03627565583131534, "gripper": 0.008082988100956128}, "target_object": {"position_m": [0.1759600958177845, 0.12957001474170746, 0.15595331526653564], "quaternion_wxyz": [0.5058417957234619, 0.025342862604550487, -0.071650171332728, 0.8592718254209553], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06201917458211492}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06249484508621873}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06322563715817027}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06370140994165738}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0647340916636128}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0652099951080428}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06839587846327957}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06887234337039631}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06718764838271052}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06766400241493364}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06567775991914687}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0661539781764698}], "left_finger_force_n": 0.3813851535398169, "right_finger_force_n": 0.40395161072693675, "bilateral_contact": true, "supported": false, "lift_m": 0.055831946238653174}, "target_sequence": 9080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 227, "source_target": [-0.2434253841638565, -1.5538138151168823, 1.5650241374969482, 1.4871485233306885, -1.3072668313980103, 0.013671875], "source_tool_goal_m": [-0.05375172522188842, -0.245612770307478, 0.08373768535815528], "target_tool_goal_m": [0.17390668986481478, 0.13540689988885177, 0.15955221170769385], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9080, "api_command_sequence": 227, "api_accepted_sequence": 227, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.5576187225876126, "joint2": 1.465837824567773, "joint3": 1.3615950388405527, "joint4": -1.3797508326015295, "joint5": -0.12754904048347226, "joint6": 0.039906900093714746, "gripper": 0.000732890625}, "target_simulation_time": 18.24000000000077, "target_positions": {"joint1": 0.5522237617528273, "joint2": 1.4645472939815696, "joint3": 1.3578878235377827, "joint4": -1.3833662823253112, "joint5": -0.11614469466991556, "joint6": 0.0370436511073761, "gripper": 0.008087619426376754}, "target_object": {"position_m": [0.17517258005439434, 0.13260744818585457, 0.15587213649613418], "quaternion_wxyz": [0.5008395001077786, 0.02597880904767218, -0.07334491588167286, 0.8620356256713325], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05799543214020834}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05849242902139118}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05936945500441777}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.059866568051386036}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06108745259874257}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06158471471437574}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06473606677179829}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06523386121417714}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0633601438946762}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06385781228336523}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06164073604405195}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06213825073548517}], "left_finger_force_n": 0.3583960515305216, "right_finger_force_n": 0.38096687094355397, "bilateral_contact": true, "supported": false, "lift_m": 0.05575076746825172}, "target_sequence": 9120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 228, "source_target": [-0.25679340958595276, -1.554295301437378, 1.5654863119125366, 1.4888206720352173, -1.2958542108535767, 0.0027343749534338713], "source_tool_goal_m": [-0.05634823771502018, -0.244628149421834, 0.08373816190525876], "target_tool_goal_m": [0.17381220864605174, 0.13813466627347348, 0.15955268825479735], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9120, "api_command_sequence": 228, "api_accepted_sequence": 228, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.5677748206580467, "joint2": 1.4675865419941854, "joint3": 1.3635195576785684, "joint4": -1.3750930423883, "joint5": -0.12825921659771566, "joint6": 0.04031779477929499, "gripper": 0.0001465781225037894}, "target_simulation_time": 18.320000000000725, "target_positions": {"joint1": 0.5628128301553428, "joint2": 1.4658840098944281, "joint3": 1.3589417102909798, "joint4": -1.37949884219272, "joint5": -0.11776233216054159, "joint6": 0.0377330955487271, "gripper": 0.008082886354492466}, "target_object": {"position_m": [0.1746302918509864, 0.13536760182936056, 0.15578978340908067], "quaternion_wxyz": [0.49637573334330465, 0.02628774058213951, -0.07511098628730689, 0.8644526741134707], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0619059733043141}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06243186950205784}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06344831181959085}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06397435221732878}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06537685504071003}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06590308086087245}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06921341751118691}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06974040300017596}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06766827891923738}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06819510372335282}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06573752751752833}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0662641566556892}], "left_finger_force_n": 0.38304044274487403, "right_finger_force_n": 0.4068188873271706, "bilateral_contact": true, "supported": false, "lift_m": 0.05566841438119821}, "target_sequence": 9160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 229, "source_target": [-0.270484983921051, -1.5545605421066284, 1.5675151348114014, 1.4890295267105103, -1.2806649208068848, 0.0], "source_tool_goal_m": [-0.05898671078672116, -0.24358890639931668, 0.08348911612231238], "target_tool_goal_m": [0.1737512879954285, 0.14092122839217772, 0.15930364247185097], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9160, "api_command_sequence": 229, "api_accepted_sequence": 229, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.577661061370073, "joint2": 1.469941447044022, "joint3": 1.3649006534671033, "joint4": -1.3698193092124695, "joint5": -0.12928090582537377, "joint6": 0.04086049495114996, "gripper": 0.0}, "target_simulation_time": 18.40000000000068, "target_positions": {"joint1": 0.5725147943846812, "joint2": 1.467677851868595, "joint3": 1.3604779878451747, "joint4": -1.3738992637601408, "joint5": -0.11919756953721417, "joint6": 0.03838506893239915, "gripper": 0.008079918594783018}, "target_object": {"position_m": [0.17465530263420623, 0.13824352039155816, 0.15568957712616407], "quaternion_wxyz": [0.4922065192800205, 0.02608920986820962, -0.07763075760824568, 0.8666173094162549], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06320487656555238}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06377147001976603}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06473140828390092}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06529815858936042}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06664019039467829}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06720714220117331}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07065452911206856}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0712223623376123}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06912505504037943}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06969271278142655}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06721388483290168}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06778132867563773}], "left_finger_force_n": 0.39085324605443134, "right_finger_force_n": 0.4156898727800262, "bilateral_contact": true, "supported": false, "lift_m": 0.05556820809828161}, "target_sequence": 9200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 230, "source_target": [-0.2889249920845032, -1.5559922456741333, 1.567140817642212, 1.4890323877334595, -1.2652689218521118, 0.0013671874767169356], "source_tool_goal_m": [-0.06266420137602718, -0.2426299887823919, 0.0838006698530885], "target_tool_goal_m": [0.17322262211628828, 0.1446190343814347, 0.1596151962026271], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9200, "api_command_sequence": 230, "api_accepted_sequence": 230, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.5900331468637929, "joint2": 1.4709612778978547, "joint3": 1.3672858346913193, "joint4": -1.3643500799079975, "joint5": -0.13269192155347218, "joint6": 0.042036851660289906, "gripper": 7.32890612518947e-05}, "target_simulation_time": 18.480000000000636, "target_positions": {"joint1": 0.583111787516569, "joint2": 1.4696777504180076, "joint3": 1.3625260928612402, "joint4": -1.368057694818175, "joint5": -0.12086499739827254, "joint6": 0.039131284628311724, "gripper": 0.008078803072655183}, "target_object": {"position_m": [0.17465497330625035, 0.14141549891738464, 0.15566786108526598], "quaternion_wxyz": [0.487668903464824, 0.025924120838463353, -0.08043654859916936, 0.8689286174373712], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06265969249963414}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0633113672053231}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06413115879182756}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06478300704101833}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06597105996563221}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06662313091132598}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07023586970763752}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07088887296881542}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06876178473566302}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06941459579950354}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06691979179748837}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06757236840072374}], "left_finger_force_n": 0.3874794164147613, "right_finger_force_n": 0.4137932834098316, "bilateral_contact": true, "supported": false, "lift_m": 0.05554649205738352}, "target_sequence": 9240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 231, "source_target": [-0.29985934495925903, -1.556129813194275, 1.570516586303711, 1.4883005619049072, -1.2499452829360962, 0.00820312462747097], "source_tool_goal_m": [-0.06470525952759774, -0.24162848332380518, 0.08334238657877989], "target_tool_goal_m": [0.17335457713190008, 0.14684974921561916, 0.15915691292831846], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9240, "api_command_sequence": 231, "api_accepted_sequence": 231, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.5981544142656877, "joint2": 1.4735335970875127, "joint3": 1.3680169884344757, "joint4": -1.3590452749441813, "joint5": -0.13229762211361384, "joint6": 0.042233663860871996, "gripper": 0.0004397343550303153}, "target_simulation_time": 18.560000000000592, "target_positions": {"joint1": 0.5935640168855585, "joint2": 1.4715265976154963, "joint3": 1.3642332471073655, "joint4": -1.3625785269842159, "joint5": -0.12238006577118718, "joint6": 0.03978754205199498, "gripper": 0.008083546076106797}, "target_object": {"position_m": [0.17449481496455177, 0.14448612095619887, 0.15561710834593212], "quaternion_wxyz": [0.4831229736195965, 0.02584065451487642, -0.08299290909224862, 0.8712270828983718], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.059885567489923956}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06053819043868642}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.061422559360442}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06207535659056786}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06334439710367736}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06399741856427973}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06732818744314387}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06798219767739873}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06578832397369423}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06644213818076485}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06386414831923204}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0645177238941162}], "left_finger_force_n": 0.3712634895475773, "right_finger_force_n": 0.3959227194883499, "bilateral_contact": true, "supported": false, "lift_m": 0.05549573931804966}, "target_sequence": 9280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 232, "source_target": [-0.3131849467754364, -1.5578315258026123, 1.5709967613220215, 1.4872299432754517, -1.2391483783721924, 0.0], "source_tool_goal_m": [-0.06736296849902279, -0.24093582538835903, 0.08358732566310217], "target_tool_goal_m": [0.1729721965249631, 0.14952200765642615, 0.15940185201264076], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9280, "api_command_sequence": 232, "api_accepted_sequence": 232, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.607983798333197, "joint2": 1.4741846040619748, "joint3": 1.3698437010436764, "joint4": -1.354778765487794, "joint5": -0.1332993841536757, "joint6": 0.04274517227136345, "gripper": 0.0}, "target_simulation_time": 18.640000000000548, "target_positions": {"joint1": 0.602901164589298, "joint2": 1.4731400338980865, "joint3": 1.365603649494282, "joint4": -1.3585500945525721, "joint5": -0.12373447954548841, "joint6": 0.04040113105850871, "gripper": 0.008080160644144145}, "target_object": {"position_m": [0.1741172055484429, 0.14709175430351404, 0.15555833257058893], "quaternion_wxyz": [0.4791128222998576, 0.02601407716140113, -0.08483133921336079, 0.8732570155369911], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06291122160059232}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06360472228948197}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06444112251906912}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06513481553073361}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06635411459722369}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0670480546828731}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07060481963318133}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07129979329655926}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06907208224543311}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06976684174654157}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06715682811354548}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06785132660558396}], "left_finger_force_n": 0.3894940512199738, "right_finger_force_n": 0.4157516916408447, "bilateral_contact": true, "supported": false, "lift_m": 0.05543696354270647}, "target_sequence": 9320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 233, "source_target": [-0.3255809545516968, -1.559156060218811, 1.5726304054260254, 1.4864696264266968, -1.2269995212554932, 0.0], "source_tool_goal_m": [-0.06975803482011267, -0.24005899479617832, 0.08359318550379526], "target_tool_goal_m": [0.17285658411135976, 0.15202620936650166, 0.15940771185333386], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9320, "api_command_sequence": 233, "api_accepted_sequence": 233, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6166112631062227, "joint2": 1.4759067154980736, "joint3": 1.3716355553432884, "joint4": -1.350269624900963, "joint5": -0.13409782108893215, "joint6": 0.04321570760837139, "gripper": 0.0}, "target_simulation_time": 18.720000000000503, "target_positions": {"joint1": 0.6117680926238611, "joint2": 1.4744881492981383, "joint3": 1.3670463885225022, "joint4": -1.3545058061433974, "joint5": -0.1250150840950091, "joint6": 0.04098390834689272, "gripper": 0.008078975227911199}, "target_object": {"position_m": [0.17377819850203075, 0.149606595633222, 0.1555730829611893], "quaternion_wxyz": [0.4752706576599757, 0.026081909827023665, -0.08680004378750683, 0.8751590074641946], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06306059209349353}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.063788512764733}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06457922575039782}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06530734778649183}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06647812632221643}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06720650694882176}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07081734030751917}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07154682415085793}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06929585800406607}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07002511748424968}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06739466534364873}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06812365127890228}], "left_finger_force_n": 0.3904203116661544, "right_finger_force_n": 0.41720345656924385, "bilateral_contact": true, "supported": false, "lift_m": 0.055451713933306834}, "target_sequence": 9360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 234, "source_target": [-0.33784914016723633, -1.5583397150039673, 1.573578119277954, 1.4869989156723022, -1.2129621505737305, 0.0], "source_tool_goal_m": [-0.072059981830275, -0.2390096376920897, 0.08330747919927112], "target_tool_goal_m": [0.17293274675904474, 0.154511585255237, 0.1591220055488097], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9360, "api_command_sequence": 234, "api_accepted_sequence": 234, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6247142450244024, "joint2": 1.4784822937537203, "joint3": 1.3730071101350882, "joint4": -1.3449769976620867, "joint5": -0.13472475275907794, "joint6": 0.04363609771025509, "gripper": 0.0}, "target_simulation_time": 18.80000000000046, "target_positions": {"joint1": 0.6200790224426669, "joint2": 1.4761629246044776, "joint3": 1.3686860142319013, "joint4": -1.3491132339149898, "joint5": -0.12621677275331508, "joint6": 0.0415319657580431, "gripper": 0.008078699734291272}, "target_object": {"position_m": [0.17381513259344974, 0.15224367325062177, 0.1555507841032207], "quaternion_wxyz": [0.4715933096664503, 0.025837152103761342, -0.08930885619142392, 0.8769014312080858], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.063024165758396}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06378462116247069}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06454410291270048}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06530476827722306}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06644463127473996}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06720556628526311}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07086609759805085}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07162824641684494}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06934319110746501}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07010510457106983}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06744022051040727}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06820184700299835}], "left_finger_force_n": 0.3903078556707933, "right_finger_force_n": 0.41758470720683627, "bilateral_contact": true, "supported": false, "lift_m": 0.055429415075338245}, "target_sequence": 9400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 235, "source_target": [-0.35175684094429016, -1.5602673292160034, 1.5745718479156494, 1.4864492416381836, -1.2017192840576172, 0.0], "source_tool_goal_m": [-0.07474943477892883, -0.23803804486333507, 0.08351056150722158], "target_tool_goal_m": [0.1727911294919165, 0.15731864176710011, 0.15932508785676017], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9400, "api_command_sequence": 235, "api_accepted_sequence": 235, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6336232219059164, "joint2": 1.4796612753908711, "joint3": 1.375067625323256, "joint4": -1.3397590331464173, "joint5": -0.1363220262917564, "joint6": 0.04428854914563098, "gripper": 0.0}, "target_simulation_time": 18.880000000000415, "target_positions": {"joint1": 0.628392609651405, "joint2": 1.4781308781261382, "joint3": 1.3705632466977236, "joint4": -1.3435651178818848, "joint5": -0.12742459813143162, "joint6": 0.04209449389140407, "gripper": 0.008077947588803132}, "target_object": {"position_m": [0.1739133162843028, 0.15495432581186863, 0.15552348433235216], "quaternion_wxyz": [0.46791362379888496, 0.02559041978184694, -0.09187146205619963, 0.8786134562698431], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06290219607916114}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06371614305902967}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06445186980374085}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06526604545204605}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06638959080733212}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.067204060294813}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07093698954924355}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07175279975807786}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06938420331413692}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07019975607704568}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06744390965277791}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06825914864378657}], "left_finger_force_n": 0.38992990549612283, "right_finger_force_n": 0.41797680699506845, "bilateral_contact": true, "supported": false, "lift_m": 0.0554021153044697}, "target_sequence": 9440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 236, "source_target": [-0.36138638854026794, -1.5627620220184326, 1.5750305652618408, 1.4853354692459106, -1.1882067918777466, 0.0], "source_tool_goal_m": [-0.07666871290529528, -0.2375395876819559, 0.08390013857145091], "target_tool_goal_m": [0.17251340580731622, 0.15924776195072884, 0.1597146649209895], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9440, "api_command_sequence": 236, "api_accepted_sequence": 236, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6407043280262148, "joint2": 1.479584696815707, "joint3": 1.3767414896884127, "joint4": -1.3365679761669218, "joint5": -0.13660770237091632, "joint6": 0.04458766480633783, "gripper": 0.0}, "target_simulation_time": 18.96000000000037, "target_positions": {"joint1": 0.6363627809788196, "joint2": 1.4794018492956622, "joint3": 1.3723372045028233, "joint4": -1.3401927617549083, "joint5": -0.12856343324786765, "joint6": 0.042609698289835275, "gripper": 0.00807848186423524}, "target_object": {"position_m": [0.17357164382944884, 0.15727160236494106, 0.1556500008913926], "quaternion_wxyz": [0.4644107224768701, 0.025657590421472903, -0.09373254506629858, 0.8802718778296104], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06291570201160468}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06375464703194661}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06444956591783958}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06528874569131211}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06636751485190473}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06720699614710736}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07090572803150091}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07174646639199488}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0693690157050666}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07020949286054949}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06744879596112133}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06828895471862491}], "left_finger_force_n": 0.3899831716517151, "right_finger_force_n": 0.4179684536688581, "bilateral_contact": true, "supported": false, "lift_m": 0.05552863186351015}, "target_sequence": 9480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 237, "source_target": [-0.3713006377220154, -1.5627994537353516, 1.5790590047836304, 1.4886837005615234, -1.1800709962844849, 0.0], "source_tool_goal_m": [-0.07817233256147764, -0.23577786114553673, 0.0832764177789559], "target_tool_goal_m": [0.173538716915198, 0.16128030212480537, 0.1590909441284945], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9480, "api_command_sequence": 237, "api_accepted_sequence": 237, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6458005651384991, "joint2": 1.4838856998726906, "joint3": 1.3784551823321443, "joint4": -1.3300581245391427, "joint5": -0.1355703689156973, "joint6": 0.0445523998810615, "gripper": 0.0}, "target_simulation_time": 19.040000000000326, "target_positions": {"joint1": 0.6427008311273397, "joint2": 1.4807786886996992, "joint3": 1.373967796214745, "joint4": -1.334804709325292, "joint5": -0.1294831732268175, "joint6": 0.04301506552468111, "gripper": 0.00807939470730426}, "target_object": {"position_m": [0.17382902351324456, 0.15954083044824832, 0.15570302092072588], "quaternion_wxyz": [0.46148745031540733, 0.025203101259039653, -0.09632595832698265, 0.8815415172529872], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06290906478119722}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06374689834863842}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06441005884838755}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06524812069041858}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06628689020154596}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06712524508119709}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0709059119942439}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07174558518288848}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0694020352973229}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07024145317174396}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06752283100746148}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06836193746217914}], "left_finger_force_n": 0.3897262779513848, "right_finger_force_n": 0.41817975411583985, "bilateral_contact": true, "supported": false, "lift_m": 0.05558165189284342}, "target_sequence": 9520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 238, "source_target": [-0.379932165145874, -1.5626766681671143, 1.5749825239181519, 1.4867271184921265, -1.1718403100967407, 0.0], "source_tool_goal_m": [-0.08014522557903739, -0.23595867773951415, 0.08387917850085996], "target_tool_goal_m": [0.17262491316600695, 0.162999822919163, 0.15969370485039855], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9520, "api_command_sequence": 238, "api_accepted_sequence": 238, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6528407794119692, "joint2": 1.482271583088157, "joint3": 1.3793919940149297, "joint4": -1.328433419961241, "joint5": -0.136963140769622, "joint6": 0.045052403712815985, "gripper": 0.0}, "target_simulation_time": 19.12000000000028, "target_positions": {"joint1": 0.64838308149579, "joint2": 1.482129393342438, "joint3": 1.3755309075790356, "joint4": -1.3316250402245795, "joint5": -0.13035418173775873, "joint6": 0.043420933318328706, "gripper": 0.008078055956745937}, "target_object": {"position_m": [0.17378316820550524, 0.16138049987999997, 0.15576699808730413], "quaternion_wxyz": [0.45897226246974904, 0.025155748254885674, -0.09796623235265485, 0.8826744971572257], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06269247426140846}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06359049494180335}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06423143781645738}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06512970913040464}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06615575946173655}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06705435270322357}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07105544248103801}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07195541311326105}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0695135756563305}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07041326664019751}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06758691268945384}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06848626277916176}], "left_finger_force_n": 0.38885422831503397, "right_finger_force_n": 0.41901087335944265, "bilateral_contact": true, "supported": false, "lift_m": 0.055645629059421664}, "target_sequence": 9560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 239, "source_target": [-0.3892427682876587, -1.5650506019592285, 1.5778714418411255, 1.49109947681427, -1.1617896556854248, 0.0], "source_tool_goal_m": [-0.08153651779646766, -0.2343162861639745, 0.08382161907694011], "target_tool_goal_m": [0.17358475425206088, 0.16488518834405977, 0.1596361454264787], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9560, "api_command_sequence": 239, "api_accepted_sequence": 239, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.656892638656787, "joint2": 1.4850253110571499, "joint3": 1.3819213888335389, "joint4": -1.3229359523726665, "joint5": -0.13668320946978232, "joint6": 0.04517261457108658, "gripper": 0.0}, "target_simulation_time": 19.200000000000237, "target_positions": {"joint1": 0.653599250512215, "joint2": 1.4831231252162849, "joint3": 1.376970890891809, "joint4": -1.3278458669551463, "joint5": -0.1311386317400191, "joint6": 0.043777173537108284, "gripper": 0.008078475144520248}, "target_object": {"position_m": [0.17384528217020973, 0.16317263295186435, 0.15587485728526215], "quaternion_wxyz": [0.4565893681148608, 0.024912279045317946, -0.09990870516737652, 0.8836989181327637], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06272896308649445}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06364242841361692}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06424450927144465}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06515822565021119}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06613953973161696}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06705357844108617}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0710065093298521}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07192196025684687}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06948809616413627}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07040326684733816}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06759072969813114}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0685055586233786}], "left_finger_force_n": 0.38896724459447035, "right_finger_force_n": 0.41891612091968317, "bilateral_contact": true, "supported": false, "lift_m": 0.05575348825737969}, "target_sequence": 9600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 240, "source_target": [-0.3976564407348633, -1.5645908117294312, 1.5787898302078247, 1.4851531982421875, -1.1520565748214722, 0.013671875], "source_tool_goal_m": [-0.08341309685573264, -0.23435043823104065, 0.08368005446435091], "target_tool_goal_m": [0.1728404983034805, 0.1665731573437795, 0.1594945808138895], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9600, "api_command_sequence": 240, "api_accepted_sequence": 240, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6632692952844189, "joint2": 1.485818736538006, "joint3": 1.3819554380661605, "joint4": -1.3206210960745663, "joint5": -0.13814493508486367, "joint6": 0.04569743345732918, "gripper": 0.000732890625}, "target_simulation_time": 19.280000000000193, "target_positions": {"joint1": 0.6587917951610864, "joint2": 1.4843028578982935, "joint3": 1.378347056383268, "joint4": -1.3243210628505586, "joint5": -0.13193668273542575, "joint6": 0.04415569924408867, "gripper": 0.008084616834770669}, "target_object": {"position_m": [0.17387653374886983, 0.16494274966469283, 0.1559379293575922], "quaternion_wxyz": [0.45425901278938635, 0.024759272328924314, -0.10168346212519895, 0.8847011932079589], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05699663931633518}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.057965615633960126}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05855112888570823}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05952035631890202}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06049481881189388}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06146436964167575}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06551348834253097}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06648448667584865}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06395617449895012}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06492688917948503}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.062010166425201844}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06298053607460709}], "left_finger_force_n": 0.3549929286084752, "right_finger_force_n": 0.3858717411966237, "bilateral_contact": true, "supported": false, "lift_m": 0.05581656032970975}, "target_sequence": 9640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 241, "source_target": [-0.4057164192199707, -1.5653735399246216, 1.579254388809204, 1.483551263809204, -1.143397569656372, 0.010937499813735485], "source_tool_goal_m": [-0.0850135628590965, -0.2338911131445901, 0.08377189550451936], "target_tool_goal_m": [0.17264848749408568, 0.16819842859344428, 0.15958642185405794], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9640, "api_command_sequence": 241, "api_accepted_sequence": 241, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6684988340718692, "joint2": 1.4866390942372236, "joint3": 1.3830850289857464, "joint4": -1.3176934362530806, "joint5": -0.13892415741163897, "joint6": 0.046066412076894055, "gripper": 0.0005863124900151576}, "target_simulation_time": 19.36000000000015, "target_positions": {"joint1": 0.6643761349692964, "joint2": 1.4852793469511194, "joint3": 1.3791147231724397, "joint4": -1.3220217185126886, "joint5": -0.13275658681695884, "joint6": 0.04453745594087981, "gripper": 0.008085599233082448}, "target_object": {"position_m": [0.17346925494701845, 0.16651192634626227, 0.15590975337701388], "quaternion_wxyz": [0.45182383902915735, 0.025001853462175913, -0.10270061993820899, 0.8858231812685395], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05774301498617465}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0587464394776719}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.059292313990778577}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06029599965183793}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06122951567046245}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06223353757613479}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06621720852987979}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06722267743190985}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06466517361138097}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06567034915099292}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0627257607435776}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06373057939471269}], "left_finger_force_n": 0.3595408213530603, "right_finger_force_n": 0.3902317488624538, "bilateral_contact": true, "supported": false, "lift_m": 0.055788384349131415}, "target_sequence": 9680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 242, "source_target": [-0.41368526220321655, -1.5657546520233154, 1.5816895961761475, 1.4849525690078735, -1.1377551555633545, 0.00820312462747097], "source_tool_goal_m": [-0.08628977894808752, -0.23271922505496062, 0.08346382238439394], "target_tool_goal_m": [0.17322560061548908, 0.1698006463396491, 0.15927834873393254], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9680, "api_command_sequence": 242, "api_accepted_sequence": 242, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6724680782451564, "joint2": 1.4893261311103871, "joint3": 1.3844564545533369, "joint4": -1.313101442239894, "joint5": -0.13859666162194628, "joint6": 0.046163966334880194, "gripper": 0.0004397343550303153}, "target_simulation_time": 19.440000000000104, "target_positions": {"joint1": 0.6692798574322613, "joint2": 1.4867638992475567, "joint3": 1.3800288508666223, "joint4": -1.3179115813152495, "joint5": -0.13348197681305557, "joint6": 0.04486612513757524, "gripper": 0.008085056068515922}, "target_object": {"position_m": [0.17354824837140662, 0.16825246736598268, 0.1557910186794269], "quaternion_wxyz": [0.4495859370777289, 0.0248827758676925, -0.10433863679890387, 0.8867732413182096], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05889877494356868}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05991836195699592}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06042987204476729}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06144972549023505}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06234431601984799}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0633645122030069}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06733569544315877}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06835742595493711}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06580179904588006}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.066823229777896}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06388505511354012}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06490612085219231}], "left_finger_force_n": 0.36640556265842184, "right_finger_force_n": 0.39710932618760436, "bilateral_contact": true, "supported": false, "lift_m": 0.055669649651544445}, "target_sequence": 9720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 243, "source_target": [-0.4207562804222107, -1.5654735565185547, 1.5831055641174316, 1.4842231273651123, -1.1285136938095093, 0.013671875], "source_tool_goal_m": [-0.08756815929810956, -0.23204128116822528, 0.08321725895474781], "target_tool_goal_m": [0.1733541750160958, 0.17121707432146996, 0.1590317853042864], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9720, "api_command_sequence": 243, "api_accepted_sequence": 243, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6765949813454575, "joint2": 1.490867116739129, "joint3": 1.3849293377874443, "joint4": -1.3093402258064257, "joint5": -0.13872143678261492, "joint6": 0.04633091204969416, "gripper": 0.000732890625}, "target_simulation_time": 19.52000000000006, "target_positions": {"joint1": 0.6733051951830442, "joint2": 1.4888477833429226, "joint3": 1.3810762691265874, "joint4": -1.313267770446616, "joint5": -0.13410945356162401, "joint6": 0.04515547495910617, "gripper": 0.008087452697806231}, "target_object": {"position_m": [0.17394210743808, 0.1699620778752221, 0.15556877354156418], "quaternion_wxyz": [0.44771907490365104, 0.02464894318120185, -0.10603145817491469, 0.8875231768493532], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05662727780231089}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05767760943534387}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.058168997358667214}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05921959593294518}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.060096706985280086}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.061147649343470965}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06522155068562639}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06627406948442738}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06367703608667412}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06472925268242358}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06174700899158201}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06279885797577012}], "left_finger_force_n": 0.3529378368580182, "right_finger_force_n": 0.3844477759065036, "bilateral_contact": true, "supported": false, "lift_m": 0.055447404513681714}, "target_sequence": 9760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 244, "source_target": [-0.4242224395275116, -1.566897988319397, 1.583196759223938, 1.4844677448272705, -1.1244455575942993, 0.00820312462747097], "source_tool_goal_m": [-0.08821505698443521, -0.2317531950737759, 0.08345216435293823], "target_tool_goal_m": [0.17336940908692575, 0.1719129324301649, 0.15926669070247682], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9760, "api_command_sequence": 244, "api_accepted_sequence": 244, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6790656020638445, "joint2": 1.4904530405249172, "joint3": 1.3855630274868653, "joint4": -1.307623482944094, "joint5": -0.13830202825904536, "joint6": 0.04631668415081932, "gripper": 0.0004397343550303153}, "target_simulation_time": 19.600000000000016, "target_positions": {"joint1": 0.6763601731082179, "joint2": 1.4902660857434566, "joint3": 1.3816206532219004, "joint4": -1.3113919554725444, "joint5": -0.134617961733089, "joint6": 0.04538269528859432, "gripper": 0.008085522236060351}, "target_object": {"position_m": [0.17387464741004602, 0.1709860063542931, 0.1553818530198164], "quaternion_wxyz": [0.44638022433752655, 0.02485357441173311, -0.10653744832231458, 0.8881310529782808], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05869311012503249}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.059761443051570065}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06021977452782197}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.061288384868400825}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.062128670577649196}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06319763772723669}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06735955564211953}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06843008368845388}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06583017528508302}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06690039228697846}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06391906660549462}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06498890487635234}], "left_finger_force_n": 0.36528902087771126, "right_finger_force_n": 0.39742817838448186, "bilateral_contact": true, "supported": false, "lift_m": 0.05526048399193395}, "target_sequence": 9800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 245, "source_target": [-0.43211573362350464, -1.5670710802078247, 1.5817947387695312, 1.4835662841796875, -1.1169886589050293, 0.013671875], "source_tool_goal_m": [-0.0898306486993493, -0.23139829374448376, 0.08370259634661843], "target_tool_goal_m": [0.17307699813398877, 0.17351222161551627, 0.15951712269615703], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9800, "api_command_sequence": 245, "api_accepted_sequence": 245, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6837025635130275, "joint2": 1.4912149832252866, "joint3": 1.387159514149013, "joint4": -1.3054741972279127, "joint5": -0.13996926198782808, "joint6": 0.046853633008111684, "gripper": 0.000732890625}, "target_simulation_time": 19.67999999999997, "target_positions": {"joint1": 0.6796265900645756, "joint2": 1.4908235480630787, "joint3": 1.3822701067246181, "joint4": -1.3103281116308074, "joint5": -0.13517856629362343, "joint6": 0.045659804578396315, "gripper": 0.008086212789466767}, "target_object": {"position_m": [0.17358110292101314, 0.17189468285596038, 0.15541476980519958], "quaternion_wxyz": [0.4449857814747832, 0.02507100153895045, -0.1070888375663581, 0.8887581673525116], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05640980932052941}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.057539704317426714}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05798107189162842}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.059111259096429156}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.05994572955389775}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.061076293267317554}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06534233235468252}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06647456955483283}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06376824874889626}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06490015556080485}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.061801280492076054}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06293278560524045}], "left_finger_force_n": 0.352063867447229, "right_finger_force_n": 0.38521937231653297, "bilateral_contact": true, "supported": false, "lift_m": 0.05529340077731712}, "target_sequence": 9840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 246, "source_target": [-0.43706652522087097, -1.5679810047149658, 1.5829956531524658, 1.4814141988754272, -1.111824631690979, 0.010937499813735485], "source_tool_goal_m": [-0.09082694702730987, -0.23113454900649466, 0.08371445468667442], "target_tool_goal_m": [0.17293735944581157, 0.17451552772339016, 0.159528981036213], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9840, "api_command_sequence": 246, "api_accepted_sequence": 246, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6868757843646888, "joint2": 1.4921061345803688, "joint3": 1.388005973066506, "joint4": -1.3038956061401572, "joint5": -0.14046057502862686, "joint6": 0.04711722173561397, "gripper": 0.0005863124900151576}, "target_simulation_time": 19.759999999999927, "target_positions": {"joint1": 0.6833668754535207, "joint2": 1.4911114082878383, "joint3": 1.3833924880308754, "joint4": -1.3086642802817312, "joint5": -0.13577744509459447, "joint6": 0.04594324974728951, "gripper": 0.00808579719440616}, "target_object": {"position_m": [0.17337298918372934, 0.17304304249942726, 0.15562596082801444], "quaternion_wxyz": [0.4433002926967073, 0.025059444310300803, -0.10825613455167908, 0.889459096348899], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.057453305100558}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05861328791347392}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05902539164143627}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0601856794851443}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.060991089333713285}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06215177006611041}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06626994611364073}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06743234113086652}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06469503289167226}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06585708402238703}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06272703699267179}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06388866990419129}], "left_finger_force_n": 0.3584205235404362, "right_finger_force_n": 0.3908701110554296, "bilateral_contact": true, "supported": false, "lift_m": 0.05550459180013198}, "target_sequence": 9880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 247, "source_target": [-0.4414308965206146, -1.5678564310073853, 1.5819047689437866, 1.4819660186767578, -1.1083564758300781, 0.0], "source_tool_goal_m": [-0.09166866344298023, -0.23081662460719551, 0.08384768125348535], "target_tool_goal_m": [0.1729055873677707, 0.17539931325618496, 0.15966220760302394], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9880, "api_command_sequence": 247, "api_accepted_sequence": 247, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.689745710888589, "joint2": 1.4925167715768144, "joint3": 1.3889507918831465, "joint4": -1.3022668666270663, "joint5": -0.1404393278578894, "joint6": 0.047236151525994065, "gripper": 0.0}, "target_simulation_time": 19.839999999999883, "target_positions": {"joint1": 0.6867001706628013, "joint2": 1.491352205875419, "joint3": 1.3846405926830057, "joint4": -1.306845511180936, "joint5": -0.13632641771231524, "joint6": 0.04619520006342733, "gripper": 0.008080386916597043}, "target_object": {"position_m": [0.17328640682442767, 0.17415700407984105, 0.1558798842700469], "quaternion_wxyz": [0.4417576945008284, 0.024937023000781395, -0.10957792081519034, 0.8900679544298794], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061967062507336315}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0631499188439604}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06353600809786876}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06471919692152603}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06549781825713301}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06668143446822596}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07078637571843245}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07197181347122883}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06921447654365245}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0703995423371987}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06725028651008506}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0684348991747705}], "left_finger_force_n": 0.3855514390960505, "right_finger_force_n": 0.418057393755368, "bilateral_contact": true, "supported": false, "lift_m": 0.055758515242164436}, "target_sequence": 9920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 248, "source_target": [-0.45309561491012573, -1.5696884393692017, 1.5839054584503174, 1.4831438064575195, -1.0968812704086304, 0.0], "source_tool_goal_m": [-0.09364783775998901, -0.22941295759713573, 0.08386214075025673], "target_tool_goal_m": [0.17342558817803855, 0.17772680022781262, 0.15967666709979533], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9920, "api_command_sequence": 248, "api_accepted_sequence": 248, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6945749348449916, "joint2": 1.495238629159225, "joint3": 1.3914713092723028, "joint4": -1.2968081559105509, "joint5": -0.14199192533441476, "joint6": 0.04778764719563231, "gripper": 0.0}, "target_simulation_time": 19.91999999999984, "target_positions": {"joint1": 0.690425141326257, "joint2": 1.4924418189929527, "joint3": 1.3864596389002812, "joint4": -1.3018935760455144, "joint5": -0.13693552251499483, "joint6": 0.04649927067778669, "gripper": 0.008077537482683752}, "target_object": {"position_m": [0.17382149995776278, 0.17591739940243453, 0.15607659484988395], "quaternion_wxyz": [0.4399357621011082, 0.02430036577155859, -0.11216391754884832, 0.8906656348192508], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.062139263652564405}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06337347356203865}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0637542447015271}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06498881326276257}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06577363954021595}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06700866945359665}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07117242309161262}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07240954841184623}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06955413187454335}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07079085147225393}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06753200352517637}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06876822905982319}], "left_finger_force_n": 0.38703810417270534, "right_finger_force_n": 0.42022718743525567, "bilateral_contact": true, "supported": false, "lift_m": 0.05595522582200149}, "target_sequence": 9960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 249, "source_target": [-0.4586787819862366, -1.5704830884933472, 1.5853413343429565, 1.4823307991027832, -1.0914397239685059, 0.0], "source_tool_goal_m": [-0.09464725010648803, -0.22885387265596774, 0.08380156186458795], "target_tool_goal_m": [0.17355246520758666, 0.1788451896870093, 0.15961608821412654], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 9960, "api_command_sequence": 249, "api_accepted_sequence": 249, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6976452558204319, "joint2": 1.495927435831958, "joint3": 1.3918551445947764, "joint4": -1.2935600013684212, "joint5": -0.14203350073421225, "joint6": 0.04792678071965385, "gripper": 0.0}, "target_simulation_time": 19.999999999999794, "target_positions": {"joint1": 0.6943162084808655, "joint2": 1.4941653412022935, "joint3": 1.3882852964943881, "joint4": -1.297021371530709, "joint5": -0.1375339006031406, "joint6": 0.04677939961174603, "gripper": 0.00807784292800909}, "target_object": {"position_m": [0.17435624008840026, 0.17775912874840075, 0.156141762879101], "quaternion_wxyz": [0.4380359497116332, 0.02379506221690698, -0.11449725794804792, 0.8913185063133713], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06222510416264511}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06347949941307962}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06384300228803949}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06509776481644772}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06586605007469762}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06712128504447522}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07114624948228243}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07240353678344674}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06952512793419126}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0707820018002737}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06749946522120621}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06875583568860237}], "left_finger_force_n": 0.3876327057993848, "right_finger_force_n": 0.4201122169100027, "bilateral_contact": true, "supported": false, "lift_m": 0.05602039385121854}, "target_sequence": 10000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 250, "source_target": [-0.4626215696334839, -1.570326566696167, 1.5866096019744873, 1.4826180934906006, -1.0870667695999146, 0.0], "source_tool_goal_m": [-0.0952647524796102, -0.22828514466658656, 0.0835839901536922], "target_tool_goal_m": [0.1738332493123615, 0.17962107743207323, 0.15939851650323078], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10000, "api_command_sequence": 250, "api_accepted_sequence": 250, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.6997788646626475, "joint2": 1.497036229002183, "joint3": 1.392064280670553, "joint4": -1.2907666669191828, "joint5": -0.14133319972738095, "joint6": 0.04784419583025776, "gripper": 0.0}, "target_simulation_time": 20.07999999999975, "target_positions": {"joint1": 0.6972121703019503, "joint2": 1.4955168946629551, "joint3": 1.388829448444595, "joint4": -1.2946783900035497, "joint5": -0.13800369649470415, "joint6": 0.04698672352959573, "gripper": 0.00807848185939293}, "target_object": {"position_m": [0.17436978557446672, 0.17883254721814332, 0.15597908080384407], "quaternion_wxyz": [0.43672021731720445, 0.023880975500833342, -0.11524962883903409, 0.8918647172346299], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06221111746800627}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0634688206368532}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0638044197193834}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06506248598432908}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0657967018846653}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06705523494280485}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07116513651608765}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0724256295821682}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06956879348756305}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07082888044260241}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06757407691236242}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06883366919778997}], "left_finger_force_n": 0.3873987806360421, "right_finger_force_n": 0.42039618613857366, "bilateral_contact": true, "supported": false, "lift_m": 0.055857711775961605}, "target_sequence": 10040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 251, "source_target": [-0.46923813223838806, -1.570997714996338, 1.5849820375442505, 1.4827053546905518, -1.082857608795166, 0.009570312686264515], "source_tool_goal_m": [-0.09658727262056216, -0.22789151694233828, 0.08394267458347177], "target_tool_goal_m": [0.17368733881145276, 0.18096944370923584, 0.15975720093301035], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10040, "api_command_sequence": 251, "api_accepted_sequence": 251, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7034947508126336, "joint2": 1.4972764868547142, "joint3": 1.3936199760310937, "joint4": -1.2886218857354756, "joint5": -0.14244067535500865, "joint6": 0.04821857002402189, "gripper": 0.0005130234474848424}, "target_simulation_time": 20.159999999999705, "target_positions": {"joint1": 0.6999137080794251, "joint2": 1.4965364118411673, "joint3": 1.3891281872442038, "joint4": -1.2933770910698532, "joint5": -0.13847098065106161, "joint6": 0.04721533107488218, "gripper": 0.008082272733972941}, "target_object": {"position_m": [0.17416087718171966, 0.1796474772374486, 0.15582389125453666], "quaternion_wxyz": [0.4355725854596343, 0.024157650168307013, -0.1155361613730758, 0.8923812672560589], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.058144370785911545}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.059447769512536476}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05976483044567261}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0610685893980961}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06179104158827272}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06309526464581253}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06734512448366033}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06865135442887126}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0657216322372574}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06702745532068438}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06369296527444555}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06499829365207044}], "left_finger_force_n": 0.363311866376302, "right_finger_force_n": 0.3974368253969893, "bilateral_contact": true, "supported": false, "lift_m": 0.0557025222266542}, "target_sequence": 10080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 252, "source_target": [-0.4703129529953003, -1.5713831186294556, 1.5880961418151855, 1.4821841716766357, -1.0787136554718018, 0.0027343749534338713], "source_tool_goal_m": [-0.09661642456532835, -0.22747600274662874, 0.08355770507572106], "target_tool_goal_m": [0.17405288427477844, 0.18115380703570266, 0.15937223142525964], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10080, "api_command_sequence": 252, "api_accepted_sequence": 252, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7038875796904931, "joint2": 1.4987472423441865, "joint3": 1.3935504806831176, "joint4": -1.2872059258306585, "joint5": -0.14132939189054958, "joint6": 0.04802959935690422, "gripper": 0.0001465781225037894}, "target_simulation_time": 20.23999999999966, "target_positions": {"joint1": 0.7018302240095425, "joint2": 1.4973603453536921, "joint3": 1.389482004442018, "joint4": -1.2919288339333304, "joint5": -0.13882853118174093, "joint6": 0.047370614892517385, "gripper": 0.008081296245465466}, "target_object": {"position_m": [0.1741251134131496, 0.18034323896793816, 0.15572815374666038], "quaternion_wxyz": [0.43470168216096455, 0.024259879488927806, -0.11600203747927025, 0.892742646608903], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.060774026663985264}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.062075688797713115}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06235978587099242}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06366181259571807}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06434261551470359}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06564511119177503}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06980774216767323}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0711122359285586}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0682190152320273}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06952310022008219}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06623379434365001}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06753738162540625}], "left_finger_force_n": 0.3788590406348875, "right_finger_force_n": 0.41243326951739756, "bilateral_contact": true, "supported": false, "lift_m": 0.05560678471877792}, "target_sequence": 10120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 253, "source_target": [-0.4738541841506958, -1.5705301761627197, 1.5890631675720215, 1.4816458225250244, -1.0786316394805908, 0.0013671874767169356], "source_tool_goal_m": [-0.09721915294842638, -0.22705087593362605, 0.0832719797092193], "target_tool_goal_m": [0.17420912249824572, 0.18186171972424833, 0.1590865060587579], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10120, "api_command_sequence": 253, "api_accepted_sequence": 253, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7055317953954982, "joint2": 1.500248408162239, "joint3": 1.3937876153303554, "joint4": -1.2851947336373377, "joint5": -0.14146945680991274, "joint6": 0.04813273334569461, "gripper": 7.32890612518947e-05}, "target_simulation_time": 20.319999999999617, "target_positions": {"joint1": 0.7029023932478816, "joint2": 1.4984095949153884, "joint3": 1.3897955824371024, "joint4": -1.2899466469593042, "joint5": -0.13910586034023784, "joint6": 0.047504092994809136, "gripper": 0.008079301379683887}, "target_object": {"position_m": [0.17435653850423435, 0.18095892374240174, 0.15556892753083007], "quaternion_wxyz": [0.43420227603250366, 0.02421825077985203, -0.11658260017262931, 0.8929111698004158], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06135517116197029}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06268567111104376}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06295751494344051}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0642883948936022}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0649610936132538}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06629246231457578}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0706073232911799}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07194082274663387}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06900186773109004}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07033493981463768}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06699575831160912}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06832830998082161}], "left_finger_force_n": 0.38254030803788636, "right_finger_force_n": 0.4172090218759722, "bilateral_contact": true, "supported": false, "lift_m": 0.05544755850294761}, "target_sequence": 10160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 254, "source_target": [-0.47401440143585205, -1.571073293685913, 1.5873664617538452, 1.4818447828292847, -1.07499361038208, 0.0], "source_tool_goal_m": [-0.0973578054589801, -0.22726388895188612, 0.083616400981504], "target_tool_goal_m": [0.17396334258241264, 0.1819064281128119, 0.15943092733104258], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10160, "api_command_sequence": 254, "api_accepted_sequence": 254, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7062288875507721, "joint2": 1.49899632351905, "joint3": 1.3939700203042389, "joint4": -1.2856066083379283, "joint5": -0.14156258946910627, "joint6": 0.048194833022348345, "gripper": 0.0}, "target_simulation_time": 20.399999999999572, "target_positions": {"joint1": 0.7036743276616438, "joint2": 1.4989905585395185, "joint3": 1.3899562159778314, "joint4": -1.2891281106760129, "joint5": -0.13935045221516884, "joint6": 0.047622146822111765, "gripper": 0.00807784510164984}, "target_object": {"position_m": [0.17439238750188557, 0.18130424496360287, 0.15547336389540684], "quaternion_wxyz": [0.43387542530271656, 0.024313578855958574, -0.11677553139057256, 0.8930422389058936], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06192219473016195}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06327537834929557}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06353123532814824}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06488481069197992}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06554319615075418}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0668972752843167}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07124935551865239}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07260561529614264}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06963716774821023}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07099298738037384}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06762265464766519}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0689779382393528}], "left_finger_force_n": 0.38605409053465656, "right_finger_force_n": 0.4210857188303971, "bilateral_contact": true, "supported": false, "lift_m": 0.05535199486752437}, "target_sequence": 10200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 255, "source_target": [-0.4772825241088867, -1.5705469846725464, 1.5879898071289062, 1.4820921421051025, -1.0755926370620728, 0.0054687499068677425], "source_tool_goal_m": [-0.09788421242875951, -0.226810620885217, 0.08342848303790079], "target_tool_goal_m": [0.17417409860183633, 0.18255585897021018, 0.15924300938743938], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10200, "api_command_sequence": 255, "api_accepted_sequence": 255, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7073275221188041, "joint2": 1.5003311111971072, "joint3": 1.3944180538596331, "joint4": -1.2837852637400684, "joint5": -0.14201296807200556, "joint6": 0.04837698525476821, "gripper": 0.0002931562450075788}, "target_simulation_time": 20.479999999999528, "target_positions": {"joint1": 0.7044753425284241, "joint2": 1.4991805763661308, "joint3": 1.3902012080894945, "joint4": -1.2882807154946518, "joint5": -0.1396038475773479, "joint6": 0.04775046655747357, "gripper": 0.008080018767379783}, "target_object": {"position_m": [0.17441868500358, 0.1816524897882634, 0.1554930774805043], "quaternion_wxyz": [0.4335189688422623, 0.024314377580835538, -0.11719477743078105, 0.8931603992787347], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.059666684940859506}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06105228210081436}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06129439221729995}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06268038260410608}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06332968095561539}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06471617765284804}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06906676227917019}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07045546314883526}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06743591778989619}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06882417476584517}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06539808042682034}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06678579736656076}], "left_finger_force_n": 0.3727396004715433, "right_finger_force_n": 0.4079661957771279, "bilateral_contact": true, "supported": false, "lift_m": 0.05537170845262185}, "target_sequence": 10240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 256, "source_target": [-0.47570547461509705, -1.569705843925476, 1.5905945301055908, 1.4784519672393799, -1.0734467506408691, 0.0], "source_tool_goal_m": [-0.09765841334432562, -0.22709157215686027, 0.08294276821408926], "target_tool_goal_m": [0.17400526923142545, 0.18224440092904504, 0.15875729456362786], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10240, "api_command_sequence": 256, "api_accepted_sequence": 256, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7071680942989995, "joint2": 1.500879853729412, "joint3": 1.3930190677093042, "joint4": -1.2840665471396138, "joint5": -0.14150739776658985, "joint6": 0.04829425241610245, "gripper": 0.0}, "target_simulation_time": 20.559999999999484, "target_positions": {"joint1": 0.7049444845818194, "joint2": 1.4994417740874015, "joint3": 1.390281513210557, "joint4": -1.2875609886836186, "joint5": -0.13980125332866805, "joint6": 0.047840871197524136, "gripper": 0.00807842382173435}, "target_object": {"position_m": [0.17446486179136833, 0.18190012269335679, 0.15545668397820422], "quaternion_wxyz": [0.4333042900061976, 0.024339989271523713, -0.11745334931819132, 0.8932299076488807], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061788971795435486}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06318367253934325}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06341187462475435}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06480698167972576}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06544117295305919}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0668368026874616}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0711492088036353}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07254707939057939}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06952313671727152}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07092055059875498}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06749127893110145}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06888813677596833}], "left_finger_force_n": 0.3854694762797796, "right_finger_force_n": 0.42051939121731097, "bilateral_contact": true, "supported": false, "lift_m": 0.05533531495032176}, "target_sequence": 10280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 257, "source_target": [-0.47650495171546936, -1.5691468715667725, 1.5916870832443237, 1.476396083831787, -1.0718963146209717, 0.0], "source_tool_goal_m": [-0.0978622317955124, -0.2271330984388743, 0.08270965276155853], "target_tool_goal_m": [0.1738901566380259, 0.18241335963942143, 0.15852417911109712], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10280, "api_command_sequence": 257, "api_accepted_sequence": 257, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7077936274000156, "joint2": 1.501398302552345, "joint3": 1.3925373132614352, "joint4": -1.2836010009526704, "joint5": -0.1417588465143196, "joint6": 0.04839704094274785, "gripper": 0.0}, "target_simulation_time": 20.63999999999944, "target_positions": {"joint1": 0.7051821669154826, "joint2": 1.4999233515017232, "joint3": 1.3903137994409254, "joint4": -1.2869091016998748, "joint5": -0.13997336054827614, "joint6": 0.04792756069295894, "gripper": 0.00807738780185054}, "target_object": {"position_m": [0.17454606812225668, 0.18208902702336985, 0.15535579774866368], "quaternion_wxyz": [0.4332189143736858, 0.024406637189295883, -0.11755264268869564, 0.8932564382566183], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061836147046125466}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06325896224802516}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06347723390691366}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06490046939534792}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06552927895637611}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06695305522419337}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07132202512598977}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07274812630877507}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06967768239688638}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0711033103901187}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06762300564528742}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0690480576311062}], "left_finger_force_n": 0.3859551467769817, "right_finger_force_n": 0.42152220749816355, "bilateral_contact": true, "supported": false, "lift_m": 0.055234428720781215}, "target_sequence": 10320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 258, "source_target": [-0.47764667868614197, -1.5680991411209106, 1.59292471408844, 1.4728690385818481, -1.0714788436889648, 0.0], "source_tool_goal_m": [-0.09821230983944818, -0.22729813567711388, 0.08238766878114535], "target_tool_goal_m": [0.17360749820954838, 0.18266794220368723, 0.15820219513068395], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10320, "api_command_sequence": 258, "api_accepted_sequence": 258, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7088326501517649, "joint2": 1.5021621120162305, "joint3": 1.3918846688754483, "joint4": -1.2832898548501115, "joint5": -0.14239961137743676, "joint6": 0.048605459802082904, "gripper": 0.0}, "target_simulation_time": 20.719999999999395, "target_positions": {"joint1": 0.7058153780494291, "joint2": 1.5006282108274396, "joint3": 1.3903219321012081, "joint4": -1.2863096463536465, "joint5": -0.14018327441987344, "joint6": 0.04803731554550974, "gripper": 0.00807677589263675}, "target_object": {"position_m": [0.17454744104654718, 0.18234632280334917, 0.1551983452775432], "quaternion_wxyz": [0.43298627914141796, 0.02457312999163353, -0.11751773255600834, 0.8933692550634255], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06180625062367752}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06326145007250501}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06346942916515097}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06492506470973826}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06554910834780195}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06700530523671344}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0713531415911263}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07281172400410271}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06968664573213666}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07114473682254303}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06760429919637648}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06906179241961992}], "left_finger_force_n": 0.38601660815558714, "right_finger_force_n": 0.4216623397659051, "bilateral_contact": true, "supported": false, "lift_m": 0.055076976249660736}, "target_sequence": 10360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 259, "source_target": [-0.4782167077064514, -1.5680837631225586, 1.5957688093185425, 1.4712886810302734, -1.0723153352737427, 0.0], "source_tool_goal_m": [-0.09823027981929035, -0.22707308623822645, 0.08198455135943944], "target_tool_goal_m": [0.17380465481097165, 0.18276977316364493, 0.15779907770897802], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10360, "api_command_sequence": 259, "api_accepted_sequence": 259, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7088132512244971, "joint2": 1.5034914894808642, "joint3": 1.3915354923588708, "joint4": -1.282399496419235, "joint5": -0.14213253085203797, "joint6": 0.0485916714299674, "gripper": 0.0}, "target_simulation_time": 20.79999999999935, "target_positions": {"joint1": 0.706414183346601, "joint2": 1.5016600528537245, "joint3": 1.390317727825849, "joint4": -1.285678088374268, "joint5": -0.14037453758281213, "joint6": 0.04812755368206905, "gripper": 0.00807727257716136}, "target_object": {"position_m": [0.17456809344024993, 0.18261367139639256, 0.1549626563051055], "quaternion_wxyz": [0.4327662827256059, 0.02479259734493941, -0.11734147925671701, 0.8934929484324975], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06184476039081415}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06331363964347334}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06349986860460392}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06496918667658663}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06556945413636332}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06703933696791672}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07130796372079422}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07278022183890424}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06964959249158816}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07112135714365742}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06757739411718881}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06904855823270674}], "left_finger_force_n": 0.38623624641975807, "right_finger_force_n": 0.4214850875448396, "bilateral_contact": true, "supported": false, "lift_m": 0.05484128727722304}, "target_sequence": 10400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 260, "source_target": [-0.47749584913253784, -1.5668106079101562, 1.6005150079727173, 1.4649730920791626, -1.071676254272461, 0.0], "source_tool_goal_m": [-0.09818837856003974, -0.2273189519626954, 0.08113978908177265], "target_tool_goal_m": [0.17359772655394698, 0.18263833823916215, 0.15695431543131122], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10400, "api_command_sequence": 260, "api_accepted_sequence": 260, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7090693008001676, "joint2": 1.505379453995719, "joint3": 1.3899171660858394, "joint4": -1.2823837126321538, "joint5": -0.14195730209228546, "joint6": 0.04857985312715487, "gripper": 0.0}, "target_simulation_time": 20.879999999999306, "target_positions": {"joint1": 0.7066638220577358, "joint2": 1.5031946294133818, "joint3": 1.3902636552326322, "joint4": -1.285129785680236, "joint5": -0.14051570834362195, "joint6": 0.04819493147978247, "gripper": 0.00807732341381924}, "target_object": {"position_m": [0.17465577940952381, 0.18280887605978496, 0.15459770418236005], "quaternion_wxyz": [0.4327293110359636, 0.025091975715896494, -0.11687463973904468, 0.8935636825156236], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061801909163547296}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06328684008430008}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06346446803454611}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06494984415698768}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06554337229291642}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06702932146912888}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07133071513035805}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07281908642629889}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06966485453278287}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07115272458549547}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06758330120310513}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06907056131569395}], "left_finger_force_n": 0.38607575520142645, "right_finger_force_n": 0.42162124319373434, "bilateral_contact": true, "supported": false, "lift_m": 0.054476335154477584}, "target_sequence": 10440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 261, "source_target": [-0.47648873925209045, -1.566296100616455, 1.6031960248947144, 1.4608323574066162, -1.0707257986068726, 0.0], "source_tool_goal_m": [-0.09809744519543312, -0.22760098251509855, 0.08070617603260555], "target_tool_goal_m": [0.1733766555564399, 0.1824487136222223, 0.15652070238214413], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10440, "api_command_sequence": 261, "api_accepted_sequence": 261, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7090948704655071, "joint2": 1.5063766566658383, "joint3": 1.389090357887023, "joint4": -1.2830620240082697, "joint5": -0.14191651840689373, "joint6": 0.04858767150783872, "gripper": 0.0}, "target_simulation_time": 20.959999999999262, "target_positions": {"joint1": 0.7067556304041814, "joint2": 1.504916672266743, "joint3": 1.3901259490418192, "joint4": -1.2847597638953556, "joint5": -0.14062105932200605, "joint6": 0.04824795854183855, "gripper": 0.008077090168939625}, "target_object": {"position_m": [0.17473948039608533, 0.18293766981496626, 0.15416391240385485], "quaternion_wxyz": [0.4327846002156656, 0.02545564686895307, -0.11619405570372988, 0.8936153765898213], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06175386327689395}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06325408319784566}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06342904398695912}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06492971674613722}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06552373563108417}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06702499141079403}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07136057082344503}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07286429435997187}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06968203709167742}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07118525013818007}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06758465422664657}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06908724619799997}], "left_finger_force_n": 0.38591543424971414, "right_finger_force_n": 0.42176405283792096, "bilateral_contact": true, "supported": false, "lift_m": 0.05404254337597239}, "target_sequence": 10480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 262, "source_target": [-0.4742130935192108, -1.5645501613616943, 1.6069241762161255, 1.4579086303710938, -1.0725754499435425, 0.0], "source_tool_goal_m": [-0.09759573508097068, -0.227647700681494, 0.07988418561171429], "target_tool_goal_m": [0.17352501308048862, 0.1819762005644653, 0.15569871196125287], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10480, "api_command_sequence": 262, "api_accepted_sequence": 262, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7078805632911195, "joint2": 1.508476063878605, "joint3": 1.387819989435374, "joint4": -1.2833437685788271, "joint5": -0.1410745798222355, "joint6": 0.04838366589519773, "gripper": 0.0}, "target_simulation_time": 21.039999999999218, "target_positions": {"joint1": 0.7068015871207137, "joint2": 1.5065593302158355, "joint3": 1.3894647511754337, "joint4": -1.284488170707951, "joint5": -0.14061794930675248, "joint6": 0.04825007269183204, "gripper": 0.00807700099038915}, "target_object": {"position_m": [0.17473916438782067, 0.18295374918366689, 0.15361882196124213], "quaternion_wxyz": [0.43286932762434027, 0.025869356760219356, -0.1152548902729601, 0.8936840783246798], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06173010390615903}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0632185777962087}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06343564328930326}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06492457486867605}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06556831100208176}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0670578321847635}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07139686938797404}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07288884378199324}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06968789579302724}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07117935380962512}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06755249367747547}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06904332378080907}], "left_finger_force_n": 0.3859350430471923, "right_finger_force_n": 0.4217487802309042, "bilateral_contact": true, "supported": false, "lift_m": 0.05349745293335967}, "target_sequence": 10520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 263, "source_target": [-0.47473523020744324, -1.562934398651123, 1.6116559505462646, 1.4519526958465576, -1.0724891424179077, 0.0], "source_tool_goal_m": [-0.09774419132428823, -0.22770060286446367, 0.07897587374343443], "target_tool_goal_m": [0.17342063279723663, 0.18209065434862134, 0.154790400092973], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10520, "api_command_sequence": 263, "api_accepted_sequence": 263, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7083514160968003, "joint2": 1.5110363209035416, "joint3": 1.3865289378028622, "joint4": -1.282737183343761, "joint5": -0.14127361987456635, "joint6": 0.048443134711172474, "gripper": 0.0}, "target_simulation_time": 21.119999999999173, "target_positions": {"joint1": 0.7068557327562903, "joint2": 1.508567165066877, "joint3": 1.3883232481602505, "joint4": -1.2841955665345717, "joint5": -0.14062283702185369, "joint6": 0.04825722930117211, "gripper": 0.008077113751555053}, "target_object": {"position_m": [0.17467251063849004, 0.18291685961159546, 0.15287128593503907], "quaternion_wxyz": [0.4329963567388644, 0.026451927078095752, -0.11394139211060149, 0.8937739142359348], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06173205105213802}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06325019887791669}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06342273961763216}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06494135047314992}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06553683046316956}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06705603762173201}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07136648321574113}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07288816496644593}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06967242829624412}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0711935885261886}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06755565877624692}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06907618468695786}], "left_finger_force_n": 0.38593920810573834, "right_finger_force_n": 0.4217525084678245, "bilateral_contact": true, "supported": false, "lift_m": 0.05274991690715661}, "target_sequence": 10560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 264, "source_target": [-0.47674310207366943, -1.5618762969970703, 1.616385579109192, 1.4436699151992798, -1.0721358060836792, 0.0054687499068677425], "source_tool_goal_m": [-0.09833311129201727, -0.22793659720057052, 0.07819577182441986], "target_tool_goal_m": [0.17298287272866333, 0.182534754407966, 0.15401029817395845], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10560, "api_command_sequence": 264, "api_accepted_sequence": 264, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7100563488495047, "joint2": 1.5133078167392373, "joint3": 1.3853778320053076, "joint4": -1.2821898942823644, "joint5": -0.14234932170956474, "joint6": 0.04873711696686559, "gripper": 0.0002931562450075788}, "target_simulation_time": 21.19999999999913, "target_positions": {"joint1": 0.7071914193457812, "joint2": 1.511064578673539, "joint3": 1.3869829706168961, "joint4": -1.283864006105063, "joint5": -0.14073846562645315, "joint6": 0.04832057278256343, "gripper": 0.008079769190188366}, "target_object": {"position_m": [0.17453192056186637, 0.18293519176849315, 0.1519626078514712], "quaternion_wxyz": [0.4330555731780673, 0.027233352527357407, -0.11234379110884242, 0.8939239831489199], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05947384968559202}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.061041512877741705}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06114663176017209}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06271475259626207}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0632382996241881}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06480701019841903}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06908498248036432}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0706562004790433}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06740895233951048}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06897965303505027}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06531467250387014}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06688474431858175}], "left_finger_force_n": 0.372422056742375, "right_finger_force_n": 0.40832920515642024, "bilateral_contact": true, "supported": false, "lift_m": 0.05184123882358874}, "target_sequence": 10600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 265, "source_target": [-0.4760035276412964, -1.5603488683700562, 1.621422290802002, 1.4367014169692993, -1.0722191333770752, 0.0], "source_tool_goal_m": [-0.0982966906759537, -0.22820047276953423, 0.0772705533411256], "target_tool_goal_m": [0.1727575369357483, 0.1824014415329208, 0.1530850796906642], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10600, "api_command_sequence": 265, "api_accepted_sequence": 265, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7102352704295776, "joint2": 1.5156183153954093, "joint3": 1.383769257829586, "joint4": -1.2822791937402358, "joint5": -0.14234987462319357, "joint6": 0.04876604962699549, "gripper": 0.0}, "target_simulation_time": 21.279999999999085, "target_positions": {"joint1": 0.7076593481071997, "joint2": 1.5137024431586796, "joint3": 1.3853886301600111, "joint4": -1.283577431865811, "joint5": -0.14087018226750533, "joint6": 0.04838470352259021, "gripper": 0.008077926221617088}, "target_object": {"position_m": [0.1743178791955568, 0.18293990506673688, 0.15095888089338635], "quaternion_wxyz": [0.43307022720380156, 0.028117891647570278, -0.11054684146499372, 0.8941135041598783], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06159347489104062}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06317462592580819}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06326348428544763}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06484510957866833}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06535170395582182}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06693393986063856}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07115690581362763}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07274171320096448}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06948359207757783}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07106786520812891}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06739272509208043}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06897634825677769}], "left_finger_force_n": 0.38516233849742515, "right_finger_force_n": 0.42081914964915695, "bilateral_contact": true, "supported": false, "lift_m": 0.05083751186550389}, "target_sequence": 10640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 266, "source_target": [-0.47706329822540283, -1.5585888624191284, 1.6286956071853638, 1.4301748275756836, -1.0708402395248413, 0.0027343749534338713], "source_tool_goal_m": [-0.09839223173583306, -0.2279116843452409, 0.07596831441887947], "target_tool_goal_m": [0.1729829819217825, 0.18259781132391684, 0.15178284076841805], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10640, "api_command_sequence": 266, "api_accepted_sequence": 266, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7103462389933093, "joint2": 1.5196230540657296, "joint3": 1.3822806563597738, "joint4": -1.2805436089256141, "joint5": -0.14220349447158276, "joint6": 0.048770308437741695, "gripper": 0.0001465781225037894}, "target_simulation_time": 21.35999999999904, "target_positions": {"joint1": 0.707932792388284, "joint2": 1.5168415380658349, "joint3": 1.3838872128075672, "joint4": -1.283114840352928, "joint5": -0.1409760032052943, "joint6": 0.048436723028717515, "gripper": 0.008078903262117387}, "target_object": {"position_m": [0.17419906136984173, 0.18295836908228652, 0.14986387497369152], "quaternion_wxyz": [0.4331762335520195, 0.02902572747293122, -0.108639606444149, 0.8942669029669023], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06058573441372877}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06218278448097921}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06225812165234358}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06385564566015899}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0643493070131685}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0659474414717713}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07015034642610708}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07175105951952021}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06847467695887383}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07007485535668637}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06638085894179012}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06798038706207424}], "left_finger_force_n": 0.37917903469215036, "right_finger_force_n": 0.41481218426505184, "bilateral_contact": true, "supported": false, "lift_m": 0.04974250594580906}, "target_sequence": 10680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 267, "source_target": [-0.4768439829349518, -1.5564481019973755, 1.6338108777999878, 1.4232484102249146, -1.0726937055587769, 0.0068359375], "source_tool_goal_m": [-0.09842389348724497, -0.2280643833861643, 0.07492162649968756], "target_tool_goal_m": [0.17283253910934018, 0.18256846793899648, 0.15073615284922615], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10680, "api_command_sequence": 267, "api_accepted_sequence": 267, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7105847839144981, "joint2": 1.522569358473365, "joint3": 1.3807624722407164, "joint4": -1.2802798512670266, "joint5": -0.14229055805533203, "joint6": 0.048815467059138515, "gripper": 0.0003664453125}, "target_simulation_time": 21.439999999998996, "target_positions": {"joint1": 0.7080716817107742, "joint2": 1.5203716389720965, "joint3": 1.3823530050970427, "joint4": -1.2826274166428453, "joint5": -0.1410681850369987, "joint6": 0.048485572628682826, "gripper": 0.008081237105751598}, "target_object": {"position_m": [0.17411929390510936, 0.18296186918658222, 0.1486693149942886], "quaternion_wxyz": [0.43336207440021085, 0.029997396209289536, -0.10655053109344124, 0.8943961387527987], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.058815553514974556}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06042856498239046}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06049132086006475}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06210479896728472}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06258671485498463}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06420079453071133}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06842264308426023}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0700392981992996}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06674363419649686}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06835976080675733}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06464562617782117}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06626111049262558}], "left_finger_force_n": 0.36862774771041046, "right_finger_force_n": 0.4044720729572608, "bilateral_contact": true, "supported": false, "lift_m": 0.04854794596640613}, "target_sequence": 10720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 268, "source_target": [-0.4765819013118744, -1.5559673309326172, 1.6423505544662476, 1.4141466617584229, -1.0722110271453857, 0.0054687499068677425], "source_tool_goal_m": [-0.09838208040419032, -0.22810402429041302, 0.07369190101964315], "target_tool_goal_m": [0.1728125016194494, 0.18251550036239278, 0.14950642736918174], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10720, "api_command_sequence": 268, "api_accepted_sequence": 268, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.710514226431931, "joint2": 1.5262003164534783, "joint3": 1.3791613541281138, "joint4": -1.2797467272324947, "joint5": -0.14223492658601333, "joint6": 0.048825585833785275, "gripper": 0.0002931562450075788}, "target_simulation_time": 21.51999999999895, "target_positions": {"joint1": 0.7081622255299255, "joint2": 1.523985754633438, "joint3": 1.3807002191969866, "joint4": -1.2821401654204805, "joint5": -0.14114175967812803, "joint6": 0.04852679969373143, "gripper": 0.00808113076753632}, "target_object": {"position_m": [0.17402890862132728, 0.18293395401013465, 0.1474262869674125], "quaternion_wxyz": [0.43357513986143803, 0.030998014805941998, -0.10436400323560475, 0.8945165599366304], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05923867246478108}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0608637817227802}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06092439961961625}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06254998389511676}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06303225463654309}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06465845131397428}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06888407689229002}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07051288826320647}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06719506230818008}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06882333554814662}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06508455971226704}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06671217898746036}], "left_finger_force_n": 0.37126754365281167, "right_finger_force_n": 0.4072121017115506, "bilateral_contact": true, "supported": false, "lift_m": 0.04730491793953004}, "target_sequence": 10760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 269, "source_target": [-0.4770886301994324, -1.5528883934020996, 1.6462633609771729, 1.4046896696090698, -1.071128010749817, 0.013671875], "source_tool_goal_m": [-0.09878179881214838, -0.2286526597742115, 0.07268904696913873], "target_tool_goal_m": [0.17216327719089064, 0.18266926921834992, 0.1485035733186773], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10760, "api_command_sequence": 269, "api_accepted_sequence": 269, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7119563072794529, "joint2": 1.5289290385518666, "joint3": 1.3774702530208347, "joint4": -1.2801623180832387, "joint5": -0.14322448338491178, "joint6": 0.04910134200896194, "gripper": 0.000732890625}, "target_simulation_time": 21.599999999998907, "target_positions": {"joint1": 0.7087720990741703, "joint2": 1.5273783558672744, "joint3": 1.3788914042351392, "joint4": -1.2817694504554207, "joint5": -0.14128965901407364, "joint6": 0.04861096765405296, "gripper": 0.008084838786822156}, "target_object": {"position_m": [0.17377851290962984, 0.1829545632231912, 0.14619888130370295], "quaternion_wxyz": [0.4335817318691174, 0.03206899719948205, -0.10215628959578539, 0.8947304363348879], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05586023910925886}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.057517015085125495}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05755769152191242}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.05921493110139096}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.05968017799522435}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.061338016347525844}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06555205663012052}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06721247811079209}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06385140595467266}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0655112989017631}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06172633412769015}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06338558574452598}], "left_finger_force_n": 0.3511680711604379, "right_finger_force_n": 0.3872391594695645, "bilateral_contact": true, "supported": false, "lift_m": 0.04607751227582049}, "target_sequence": 10800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 270, "source_target": [-0.47445419430732727, -1.5517826080322266, 1.6554909944534302, 1.3985449075698853, -1.0681884288787842, 0.009570312686264515], "source_tool_goal_m": [-0.0980272826424397, -0.2283971825128794, 0.07121121320631504], "target_tool_goal_m": [0.17268164099828642, 0.18208247665937924, 0.14702573955585363], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10800, "api_command_sequence": 270, "api_accepted_sequence": 270, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7099745196505652, "joint2": 1.5330240924393834, "joint3": 1.3754602804363676, "joint4": -1.2792695013469502, "joint5": -0.1416290550425115, "joint6": 0.04872782155491413, "gripper": 0.0005130234474848424}, "target_simulation_time": 21.679999999998863, "target_positions": {"joint1": 0.7089597251466009, "joint2": 1.530726284732672, "joint3": 1.3770586255428696, "joint4": -1.2813559794772877, "joint5": -0.141305399835346, "joint6": 0.04861508114859226, "gripper": 0.008084697768378755}, "target_object": {"position_m": [0.17361008893081417, 0.18288511057344398, 0.14497670567863596], "quaternion_wxyz": [0.4337218453185677, 0.033045121031304144, -0.09996216335892945, 0.8948748218416278], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05732855187036666}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05895484805959092}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.05904753700766878}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06067430241454099}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.061196970109997174}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0628243414678191}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06704167436462549}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06867165347146904}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06531935323941092}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.06694879717306561}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.063167227715491}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06479602218323637}], "left_finger_force_n": 0.3600265509299836, "right_finger_force_n": 0.3959447281472984, "bilateral_contact": true, "supported": false, "lift_m": 0.0448553366507535}, "target_sequence": 10840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 271, "source_target": [-0.477766215801239, -1.5488461256027222, 1.6596404314041138, 1.3878921270370483, -1.071386694908142, 0.0013671874767169356], "source_tool_goal_m": [-0.09900241602548299, -0.22877065214101985, 0.07021191468175059], "target_tool_goal_m": [0.1719724696361022, 0.1828243892315462, 0.14602644103128917], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10840, "api_command_sequence": 271, "api_accepted_sequence": 271, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7127880245194983, "joint2": 1.5361978705046462, "joint3": 1.3741574718827625, "joint4": -1.278542714757684, "joint5": -0.14341126182664757, "joint6": 0.049203705427331226, "gripper": 7.32890612518947e-05}, "target_simulation_time": 21.75999999999882, "target_positions": {"joint1": 0.7095582730531242, "joint2": 1.5342556635738642, "joint3": 1.3754533150420691, "joint4": -1.2808879248676002, "joint5": -0.14144158060424492, "joint6": 0.04869659406472874, "gripper": 0.008079494152132539}, "target_object": {"position_m": [0.1734109265738449, 0.18293485052656064, 0.14376902529384408], "quaternion_wxyz": [0.43372187839108167, 0.0340758091341253, -0.09782250433401879, 0.8950725831364664], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06074834416906198}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06244089858770289}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.062447281061198574}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06414034519808676}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06457167432469317}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06626539532817805}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07044493581932126}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0721413957184865}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06874265297068044}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07043853729524226}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06661559143901447}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06831077608737453}], "left_finger_force_n": 0.3806139386689214, "right_finger_force_n": 0.41669388933011947, "bilateral_contact": true, "supported": false, "lift_m": 0.04364765626596162}, "target_sequence": 10880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 272, "source_target": [-0.47653621435165405, -1.5471934080123901, 1.6687841415405273, 1.3782016038894653, -1.0712696313858032, 0.0], "source_tool_goal_m": [-0.09873291390927057, -0.2288082395408597, 0.06869423371377856], "target_tool_goal_m": [0.17204083957757701, 0.1825658225402689, 0.14450876006331714], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10880, "api_command_sequence": 272, "api_accepted_sequence": 272, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7122903327189852, "joint2": 1.5404483909727755, "joint3": 1.3720075944931251, "joint4": -1.2778423906096887, "joint5": -0.14275996592919116, "joint6": 0.04907879833263705, "gripper": 0.0}, "target_simulation_time": 21.839999999998774, "target_positions": {"joint1": 0.7100904271736649, "joint2": 1.5379180865116342, "joint3": 1.3737879844494683, "joint4": -1.2803635352192078, "joint5": -0.1415625266802459, "joint6": 0.048752042805689545, "gripper": 0.008078179255650568}, "target_object": {"position_m": [0.1732185961321444, 0.18298095146449336, 0.14252125823919304], "quaternion_wxyz": [0.43372548187763826, 0.03512153752819536, -0.09562827070259206, 0.8952675118723443], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061635680678944336}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06332200992178841}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06331363964227926}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06500047936908646}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06541180535644553}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0670993023807588}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07115431012394412}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07284452534048738}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06947305198570729}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07116269298554889}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06737226325261787}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06906120574517662}], "left_finger_force_n": 0.3857829173493028, "right_finger_force_n": 0.4210680494334822, "bilateral_contact": true, "supported": false, "lift_m": 0.042399889211310576}, "target_sequence": 10920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 273, "source_target": [-0.4763393700122833, -1.544754147529602, 1.676486849784851, 1.3682804107666016, -1.0703916549682617, 0.0], "source_tool_goal_m": [-0.09875123061684273, -0.22893688755996053, 0.06725272067664516], "target_tool_goal_m": [0.17191726939679108, 0.18253352502446246, 0.14306724702618373], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10920, "api_command_sequence": 273, "api_accepted_sequence": 273, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7125754515107867, "joint2": 1.5446003865374085, "joint3": 1.3700073238006045, "joint4": -1.2771252812837408, "joint5": -0.14267407428596837, "joint6": 0.04908147481943403, "gripper": 0.0}, "target_simulation_time": 21.91999999999873, "target_positions": {"joint1": 0.7102108610781929, "joint2": 1.5419025756182534, "joint3": 1.3718838135112492, "joint4": -1.2798045707538261, "joint5": -0.14163630844234554, "joint6": 0.04879148513480989, "gripper": 0.008077457487472793}, "target_object": {"position_m": [0.17307908767455313, 0.18292032043855308, 0.14114233998923956], "quaternion_wxyz": [0.43393687547465226, 0.0362263005570939, -0.09319177952547154, 0.8953779846970326], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06162955686959963}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06332553962853278}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06331767719086458}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06501417625653899}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06542855264503629}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06712571660029804}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07126837013632686}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07296833089844248}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06957686722999612}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0712762456911831}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06746328336657487}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.069161953532154}], "left_finger_force_n": 0.38584121919087033, "right_finger_force_n": 0.4217150508546774, "bilateral_contact": true, "supported": false, "lift_m": 0.041020970961357095}, "target_sequence": 10960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 274, "source_target": [-0.4761565923690796, -1.5423204898834229, 1.6843427419662476, 1.3559768199920654, -1.0698730945587158, 0.0], "source_tool_goal_m": [-0.09891912154724149, -0.22934775682092073, 0.0658206362784064], "target_tool_goal_m": [0.1714810368440019, 0.18252952894325558, 0.14163516262794498], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 10960, "api_command_sequence": 274, "api_accepted_sequence": 274, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7133546676674374, "joint2": 1.5485499105551033, "joint3": 1.3677369838038662, "joint4": -1.2769209952124863, "joint5": -0.14315520553470387, "joint6": 0.049225914141803793, "gripper": 0.0}, "target_simulation_time": 21.999999999998685, "target_positions": {"joint1": 0.7105334203504975, "joint2": 1.546076202194843, "joint3": 1.3696623394623897, "joint4": -1.2792825763077327, "joint5": -0.14173534685807693, "joint6": 0.048849225429533565, "gripper": 0.008076935748256533}, "target_object": {"position_m": [0.17283989187601126, 0.18284316093482528, 0.13964700726138918], "quaternion_wxyz": [0.434092811347583, 0.037457906104354545, -0.09050679452684778, 0.8955271389249493], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061620441500086734}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0633365814870793}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06331298237375566}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06502964646660471}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06542938756945535}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06714672663957699}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07127544944233043}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07299561123274341}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06957952279140726}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.071299093669283}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06746041338950058}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06917926554693628}], "left_finger_force_n": 0.3858757660365587, "right_finger_force_n": 0.42178935607220097, "bilateral_contact": true, "supported": false, "lift_m": 0.039525638233506716}, "target_sequence": 11000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 275, "source_target": [-0.4771798253059387, -1.539096474647522, 1.693090558052063, 1.3468302488327026, -1.0713396072387695, 0.0], "source_tool_goal_m": [-0.09899599119692612, -0.22902464766427016, 0.06407667762009879], "target_tool_goal_m": [0.17174468761945255, 0.18272202031569007, 0.1398912039696374], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11000, "api_command_sequence": 275, "api_accepted_sequence": 275, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7133503864483385, "joint2": 1.5540739809578579, "joint3": 1.3658836365329463, "joint4": -1.2747086438264394, "joint5": -0.1430079411307508, "joint6": 0.04923455323936309, "gripper": 0.0}, "target_simulation_time": 22.07999999999864, "target_positions": {"joint1": 0.7108871124477398, "joint2": 1.5508345710614901, "joint3": 1.3676206102178914, "joint4": -1.2785547960638066, "joint5": -0.14182895165603238, "joint6": 0.048900984511946584, "gripper": 0.008077126763314712}, "target_object": {"position_m": [0.17266488590269083, 0.18283539508919597, 0.13806010112826006], "quaternion_wxyz": [0.43423215651653246, 0.038729825412301556, -0.08772360491141831, 0.8956824236367941], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061646423577839136}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06337302188878612}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06333845015678531}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0650655763096012}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06545421316586383}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06718201909888226}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07124446636185743}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0729750876537666}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06954907732446748}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07127910414952457}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06743063979504822}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06915994358942928}], "left_finger_force_n": 0.38605970419775787, "right_finger_force_n": 0.4216383188740936, "bilateral_contact": true, "supported": false, "lift_m": 0.0379387321003776}, "target_sequence": 11040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 276, "source_target": [-0.47608354687690735, -1.5363881587982178, 1.7011982202529907, 1.3374252319335938, -1.067943811416626, 0.0027343749534338713], "source_tool_goal_m": [-0.09875421868370757, -0.22906935478056642, 0.0625246405184755], "target_tool_goal_m": [0.17179606397090832, 0.18248588176828526, 0.1383391668680141], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11040, "api_command_sequence": 276, "api_accepted_sequence": 276, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7128384227616239, "joint2": 1.5587152039452326, "joint3": 1.3638998424417212, "joint4": -1.2740342096655113, "joint5": -0.14253661481830746, "joint6": 0.049135782134950665, "gripper": 0.0001465781225037894}, "target_simulation_time": 22.159999999998597, "target_positions": {"joint1": 0.7109785944487506, "joint2": 1.556025894491621, "joint3": 1.3656509735649147, "joint4": -1.2777725310399568, "joint5": -0.14185484974481682, "joint6": 0.048922378737146534, "gripper": 0.008078525641629508}, "target_object": {"position_m": [0.17257508671989297, 0.18279873516281067, 0.1363884423862236], "quaternion_wxyz": [0.4344873400975585, 0.04001657278090035, -0.08479436878596845, 0.8957842040469393], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06048057249878757}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06220199572462047}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06219004175145712}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06391198745882698}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06432761069545842}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06605022983679971}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07016066576847044}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07188609985901147}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06844779640262928}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07017263978774133}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0663075138173688}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06803163922948623}], "left_finger_force_n": 0.3791624379659503, "right_finger_force_n": 0.41500635486470755, "bilateral_contact": true, "supported": false, "lift_m": 0.036267073358341145}, "target_sequence": 11080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 277, "source_target": [-0.47805166244506836, -1.5348700284957886, 1.711450457572937, 1.3271186351776123, -1.0736801624298096, 0.0], "source_tool_goal_m": [-0.09899627735435028, -0.22861984494481155, 0.060881824890733224], "target_tool_goal_m": [0.17211149616881222, 0.1828761478943889, 0.1366963512402718], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11080, "api_command_sequence": 277, "api_accepted_sequence": 277, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7130817613873499, "joint2": 1.5645984552871557, "joint3": 1.3628100270676635, "joint4": -1.2717580838714415, "joint5": -0.14269050454633037, "joint6": 0.0492051959455133, "gripper": 0.0}, "target_simulation_time": 22.239999999998552, "target_positions": {"joint1": 0.7110539769872015, "joint2": 1.5616123187977835, "joint3": 1.3640705065671308, "joint4": -1.2765758742433588, "joint5": -0.14187885379559936, "joint6": 0.04894937487280286, "gripper": 0.008077405534282675}, "target_object": {"position_m": [0.17262968514176383, 0.18287713622116608, 0.13470894731428915], "quaternion_wxyz": [0.43473325461207407, 0.041224479953261964, -0.08204007335235988, 0.8958666005334256], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061529485366562726}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06327111953556043}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06323798386781987}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06498015430006751}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06537434926693475}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06711721057705397}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07120220516308479}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07294791015522951}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06949030341064791}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07123540391517869}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0673512391031239}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06909560462422583}], "left_finger_force_n": 0.38551030291399924, "right_finger_force_n": 0.42132266637149063, "bilateral_contact": true, "supported": false, "lift_m": 0.034587578286406684}, "target_sequence": 11120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 278, "source_target": [-0.47897791862487793, -1.5343687534332275, 1.716264247894287, 1.3167338371276855, -1.0685138702392578, 0.0], "source_tool_goal_m": [-0.09949786745147722, -0.2291883567930541, 0.06021970192011042], "target_tool_goal_m": [0.17140553349473248, 0.18311469915179793, 0.136034228269649], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11120, "api_command_sequence": 278, "api_accepted_sequence": 278, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7147487237578665, "joint2": 1.5671118539372613, "joint3": 1.362165493511132, "joint4": -1.2727890323037394, "joint5": -0.14395040331866837, "joint6": 0.04953793804594823, "gripper": 0.0}, "target_simulation_time": 22.319999999998508, "target_positions": {"joint1": 0.7115983283895786, "joint2": 1.5665621318516612, "joint3": 1.3628361815297443, "joint4": -1.2758285936389404, "joint5": -0.1420155852554209, "joint6": 0.0490350000732723, "gripper": 0.00807647837362759}, "target_object": {"position_m": [0.17255161107336905, 0.18301748450948935, 0.13325912528410555], "quaternion_wxyz": [0.43477312571122956, 0.04239746287610809, -0.07953651638423428, 0.8960182625719285], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061556923733026084}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06333569883686423}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06326404968216522}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06504337279266731}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06539869851243033}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06717872756847748}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07126111903157847}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.073044070636384}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06955057735962565}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07133291102214859}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06741321257398025}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06919479482518572}], "left_finger_force_n": 0.38577747112563066, "right_finger_force_n": 0.4217966854489027, "bilateral_contact": true, "supported": false, "lift_m": 0.03313775625622309}, "target_sequence": 11160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 279, "source_target": [-0.47541341185569763, -1.5292127132415771, 1.72657310962677, 1.3019776344299316, -1.0689194202423096, 0.0], "source_tool_goal_m": [-0.09891152584101608, -0.22967633502943818, 0.05797968855218395], "target_tool_goal_m": [0.17118609737799523, 0.1823977493578137, 0.13379421490172255], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11160, "api_command_sequence": 279, "api_accepted_sequence": 279, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7138695928321924, "joint2": 1.5732268597586072, "joint3": 1.3586541240911891, "joint4": -1.2729216751029924, "joint5": -0.14294088148111705, "joint6": 0.049312213207011645, "gripper": 0.0}, "target_simulation_time": 22.399999999998464, "target_positions": {"joint1": 0.7119163912477752, "joint2": 1.5706101777546837, "joint3": 1.360913032814419, "joint4": -1.275254776768944, "joint5": -0.1420940165379019, "joint6": 0.049070240542017446, "gripper": 0.008077358961351705}, "target_object": {"position_m": [0.17233546145024778, 0.18296380118906658, 0.13187484953234202], "quaternion_wxyz": [0.4348695732681557, 0.04351794009677989, -0.07706998067225863, 0.8961332831752677], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061626154909972634}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06337920493707971}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06331899031154993}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0650725761353072}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06543576410441286}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06719003997104465}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07122937829927539}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07298653708559953}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06953315741101733}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07128971212237023}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06741368067493052}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06916950066671536}], "left_finger_force_n": 0.386022730369367, "right_finger_force_n": 0.42162196625990833, "bilateral_contact": true, "supported": false, "lift_m": 0.03175348050445956}, "target_sequence": 11200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 280, "source_target": [-0.4761796295642853, -1.528456449508667, 1.7353028059005737, 1.2945479154586792, -1.0712416172027588, 0.0], "source_tool_goal_m": [-0.09885375637278175, -0.22920475173384355, 0.05666502351751697], "target_tool_goal_m": [0.17163550385264625, 0.18252463846501635, 0.13247954986705557], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11200, "api_command_sequence": 280, "api_accepted_sequence": 280, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7133741344732812, "joint2": 1.5778046869794335, "joint3": 1.3577390946186463, "joint4": -1.2708997490811798, "joint5": -0.14252767807451677, "joint6": 0.04923043476943101, "gripper": 0.0}, "target_simulation_time": 22.47999999999842, "target_positions": {"joint1": 0.7119723578105199, "joint2": 1.57509601331795, "joint3": 1.3591199405676222, "joint4": -1.2745518944721166, "joint5": -0.14207742161214582, "joint6": 0.04907455003354517, "gripper": 0.008077004982955223}, "target_object": {"position_m": [0.17222267615366835, 0.18288228789628855, 0.1304120466006998], "quaternion_wxyz": [0.4350864310890152, 0.04462343948953168, -0.07448999802751204, 0.8961918245131507], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06158523873743603}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06333929840940183}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06330887433327126}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06506348015727798}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06546417642671115}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06721948602896148}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07127392836845063}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07303212247427511}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0695468314020945}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07130440942012142}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06738879029949602}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06914561937614466}], "left_finger_force_n": 0.38598055409305976, "right_finger_force_n": 0.4216917013405823, "bilateral_contact": true, "supported": false, "lift_m": 0.030290677572817337}, "target_sequence": 11240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 281, "source_target": [-0.476382315158844, -1.5255746841430664, 1.7423975467681885, 1.284265398979187, -1.070721983909607, 0.0], "source_tool_goal_m": [-0.0989526848306601, -0.2293063215702859, 0.055247499668353975], "target_tool_goal_m": [0.17150583655142843, 0.18257570086018407, 0.13106202601789257], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11240, "api_command_sequence": 281, "api_accepted_sequence": 281, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7137307504129988, "joint2": 1.582298012955696, "joint3": 1.3561010217639908, "joint4": -1.270041116499793, "joint5": -0.14271674994755462, "joint6": 0.049290786347745884, "gripper": 0.0}, "target_simulation_time": 22.559999999998375, "target_positions": {"joint1": 0.712034471301502, "joint2": 1.5798627901816855, "joint3": 1.357625179180962, "joint4": -1.2737672367559758, "joint5": -0.14207456764688658, "joint6": 0.04908696466835197, "gripper": 0.008077008665226008}, "target_object": {"position_m": [0.17217900240417197, 0.1828656287921514, 0.12895316393894843], "quaternion_wxyz": [0.43529665517724464, 0.04571368032329587, -0.07196257229835716, 0.8962413009960019], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061596323978464325}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06336739555773575}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06330827960602962}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06507989923505099}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06544897143350425}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06722129711863525}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07124755144293643}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07302275929608708}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06953219206091296}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07130678263275972}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06738881056626789}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06916265060898641}], "left_finger_force_n": 0.3860221669294202, "right_finger_force_n": 0.4216607466079505, "bilateral_contact": true, "supported": false, "lift_m": 0.028831794911065967}, "target_sequence": 11280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 282, "source_target": [-0.4760570526123047, -1.522879958152771, 1.7504208087921143, 1.2736856937408447, -1.0709470510482788, 0.0], "source_tool_goal_m": [-0.09889941012329616, -0.22935037557922608, 0.05373364189035343], "target_tool_goal_m": [0.17148615561790564, 0.18251066689982526, 0.12954816823989201], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11280, "api_command_sequence": 282, "api_accepted_sequence": 282, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.713660358977176, "joint2": 1.58720070222399, "joint3": 1.3544816069859305, "joint4": -1.2692262677228523, "joint5": -0.14260888051902393, "joint6": 0.04927571243718029, "gripper": 0.0}, "target_simulation_time": 22.63999999999833, "target_positions": {"joint1": 0.7120936565534969, "joint2": 1.584669625514075, "joint3": 1.3560892737053305, "joint4": -1.2729688111414257, "joint5": -0.142063930385699, "joint6": 0.04909554779487607, "gripper": 0.008076992773633374}, "target_object": {"position_m": [0.17212586886245415, 0.18283819030151352, 0.12747680313143397], "quaternion_wxyz": [0.4355055574457727, 0.04681203518795494, -0.06940423551689545, 0.8962848848930359], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06159704799128871}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06337357956418735}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.063310523725931}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06508760553787578}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06545311704599452}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06723090775807736}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07124123485068794}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07302192171695737}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06952434693131647}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07130441389850456}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0673790564330021}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06915836970698018}], "left_finger_force_n": 0.3860527816233547, "right_finger_force_n": 0.42162934353744863, "bilateral_contact": true, "supported": false, "lift_m": 0.027355434103551513}, "target_sequence": 11320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 283, "source_target": [-0.475483775138855, -1.5209283828735352, 1.758273720741272, 1.2625452280044556, -1.0705500841140747, 0.0], "source_tool_goal_m": [-0.09886859137736584, -0.22955391023314073, 0.05238638927835362], "target_tool_goal_m": [0.17131338413868213, 0.1824053675997304, 0.1282009156278922], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11320, "api_command_sequence": 283, "api_accepted_sequence": 283, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7137668855097669, "joint2": 1.5915273782057722, "joint3": 1.3529204489748365, "joint4": -1.2689269662427416, "joint5": -0.14264579954264595, "joint6": 0.04929204559817537, "gripper": 0.0}, "target_simulation_time": 22.719999999998286, "target_positions": {"joint1": 0.7121537051441336, "joint2": 1.5893655331142862, "joint3": 1.3544523721159303, "joint4": -1.2722352968146005, "joint5": -0.1420556013126441, "joint6": 0.04910490388780396, "gripper": 0.008076979991016807}, "target_object": {"position_m": [0.1720335920469888, 0.18277765460744125, 0.12600472747713032], "quaternion_wxyz": [0.4357135467655104, 0.04792233440448385, -0.06681921159473996, 0.8963215650602753], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06159886124693375}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06338439797191331}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06330802572310387}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06509411409260958}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06544522596190246}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06723202498267744}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07123012862426531}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07301983458418863}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06951756658041373}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07130665121380346}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06737767890413565}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0691660080541218}], "left_finger_force_n": 0.3860626499791404, "right_finger_force_n": 0.4216178679609286, "bilateral_contact": true, "supported": false, "lift_m": 0.025883358449247856}, "target_sequence": 11360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 284, "source_target": [-0.47653433680534363, -1.518351435661316, 1.7669886350631714, 1.251336693763733, -1.0696091651916504, 0.0], "source_tool_goal_m": [-0.09904556772771397, -0.22942163054144488, 0.05080603628610082], "target_tool_goal_m": [0.17136601391599646, 0.18261606116089724, 0.12662056263563942], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11360, "api_command_sequence": 284, "api_accepted_sequence": 284, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7141346067796679, "joint2": 1.5968859951247616, "joint3": 1.3515310222907122, "joint4": -1.267297018879527, "joint5": -0.14282494227262066, "joint6": 0.04935983507903928, "gripper": 0.0}, "target_simulation_time": 22.799999999998242, "target_positions": {"joint1": 0.7122239115710939, "joint2": 1.5941847272703822, "joint3": 1.3530029383626494, "joint4": -1.2713993236303789, "joint5": -0.14207000262510516, "joint6": 0.04912589977459035, "gripper": 0.00807700104857699}, "target_object": {"position_m": [0.171981826462751, 0.1827608996056983, 0.12454720062019388], "quaternion_wxyz": [0.4359118094158455, 0.04901079732240136, -0.06431225115200626, 0.8963496920897479], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0616050543045549}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06340747852261333}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06330811619710609}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06511109544978541}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06543768279072527}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06724137697834118}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07120798297355474}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0730146029591409}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06950154666939219}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07130754181492814}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06736930994198428}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06917454525797329}], "left_finger_force_n": 0.38611080424312616, "right_finger_force_n": 0.42157552961697353, "bilateral_contact": true, "supported": false, "lift_m": 0.024425831592311417}, "target_sequence": 11400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 285, "source_target": [-0.4753308892250061, -1.5160255432128906, 1.7771903276443481, 1.2417829036712646, -1.070930004119873, 0.0], "source_tool_goal_m": [-0.09857032419573657, -0.22904267302762263, 0.04903797298577384], "target_tool_goal_m": [0.17189014810076295, 0.18232933983756847, 0.12485249933531242], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11400, "api_command_sequence": 285, "api_accepted_sequence": 285, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7126537462779238, "joint2": 1.6027107505043698, "joint3": 1.3499581291238876, "joint4": -1.265554305204794, "joint5": -0.14175897453397637, "joint6": 0.04910296612485499, "gripper": 0.0}, "target_simulation_time": 22.879999999998198, "target_positions": {"joint1": 0.7122462758599736, "joint2": 1.5994696345337958, "joint3": 1.3516701773486746, "joint4": -1.2700340067024245, "joint5": -0.14196914001757224, "joint6": 0.04909494910348667, "gripper": 0.008076938829664797}, "target_object": {"position_m": [0.17207130399071793, 0.18282331142187402, 0.12299332072518993], "quaternion_wxyz": [0.4360982980854632, 0.05000617467823248, -0.06187167237899264, 0.896375787857993], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06158617066224277}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06336280562295202}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0633267654782421}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06510395990330992}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0655032832420242}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06728119882575379}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07125085500681216}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07303167107551795}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.069506776114147}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07128696146057295}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06732752505517565}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0691069439091737}], "left_finger_force_n": 0.38616418373452477, "right_finger_force_n": 0.42151073262139943, "bilateral_contact": true, "supported": false, "lift_m": 0.022871951697307463}, "target_sequence": 11440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 286, "source_target": [-0.4751698970794678, -1.5136749744415283, 1.7836158275604248, 1.2321804761886597, -1.0706250667572021, 0.0], "source_tool_goal_m": [-0.09859496923728256, -0.22916524502065427, 0.04781329154012012], "target_tool_goal_m": [0.1717696798502873, 0.1823050879261862, 0.12362781788965871], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11440, "api_command_sequence": 286, "api_accepted_sequence": 286, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7128477092152185, "joint2": 1.606902720724696, "joint3": 1.3488020040236057, "joint4": -1.2651300808926365, "joint5": -0.14182950461954863, "joint6": 0.04910811761946198, "gripper": 0.0}, "target_simulation_time": 22.959999999998153, "target_positions": {"joint1": 0.7122669987605412, "joint2": 1.6047921878611722, "joint3": 1.3502952027583024, "joint4": -1.2691082359393546, "joint5": -0.14186549878982682, "joint6": 0.049063970075681716, "gripper": 0.00807699390300401}, "target_object": {"position_m": [0.17207040612307606, 0.18280538190884965, 0.12142950941811137], "quaternion_wxyz": [0.4363044298778419, 0.05110219963678514, -0.05919225173773688, 0.8963946045104626], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06159598938668964}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06338644850492291}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06332148794260348}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06511250625917651}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06547912168216355}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0672708605902168}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07122913192358744}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0730237553398718}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06950022320621987}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07129421741577437}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06733991849357361}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06913314786804932}], "left_finger_force_n": 0.38616641436577287, "right_finger_force_n": 0.42152039424707644, "bilateral_contact": true, "supported": false, "lift_m": 0.021308140390228908}, "target_sequence": 11480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 287, "source_target": [-0.4742218255996704, -1.5113509893417358, 1.7937324047088623, 1.2194045782089233, -1.071010947227478, 0.0], "source_tool_goal_m": [-0.09838067244872815, -0.229179391724901, 0.046104865050064614], "target_tool_goal_m": [0.17183831276591785, 0.182105469871889, 0.1219193913996032], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11480, "api_command_sequence": 287, "api_accepted_sequence": 287, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7123911986550974, "joint2": 1.6125255832483418, "joint3": 1.3470885181925563, "joint4": -1.2642022432051927, "joint5": -0.14137101108537797, "joint6": 0.048983136224254965, "gripper": 0.0}, "target_simulation_time": 23.03999999999811, "target_positions": {"joint1": 0.7122735105775561, "joint2": 1.6099030889230364, "joint3": 1.348747245465417, "joint4": -1.2682296746059556, "joint5": -0.14172670607183294, "joint6": 0.049016167211522334, "gripper": 0.008076988728229182}, "target_object": {"position_m": [0.17202226791700748, 0.18273368063907067, 0.11988000909137068], "quaternion_wxyz": [0.43650574593885044, 0.052182414257762676, -0.056502919598490284, 0.8964079146691222], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06160259532480091}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06338945278148346}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06333333543898541}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06512075275286049}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06549752617642844}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06728566500758966}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07122666826106636}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07301769172814075}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0694924990204995}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07128289231671621}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06732562438346734}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06911525174249444}], "left_finger_force_n": 0.3862293274821484, "right_finger_force_n": 0.4214606274523846, "bilateral_contact": true, "supported": false, "lift_m": 0.019758640063488223}, "target_sequence": 11520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 288, "source_target": [-0.4779340922832489, -1.5082207918167114, 1.8024283647537231, 1.2088412046432495, -1.0705163478851318, 0.0], "source_tool_goal_m": [-0.09895302018299605, -0.22860269547046205, 0.04443355052219142], "target_tool_goal_m": [0.17214348296571277, 0.18284345778155198, 0.12024807687173], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11520, "api_command_sequence": 288, "api_accepted_sequence": 288, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7134278253023673, "joint2": 1.6189240507662552, "joint3": 1.346579903109635, "joint4": -1.2610840089432724, "joint5": -0.14191907261429884, "joint6": 0.049138937243029084, "gripper": 0.0}, "target_simulation_time": 23.119999999998065, "target_positions": {"joint1": 0.7123112829850501, "joint2": 1.6155545443339916, "joint3": 1.3476522842958731, "joint4": -1.2657776003372943, "joint5": -0.1416591615322609, "joint6": 0.04900578798532238, "gripper": 0.008077050287786054}, "target_object": {"position_m": [0.17232112675600333, 0.18298855239722897, 0.1182563135507513], "quaternion_wxyz": [0.43665130098156424, 0.05301268854268979, -0.05448631806680375, 0.896413151034781], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.0616261414023501}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06344522147547255}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06332586670155745}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06514550673721356}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.065451260742256}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0672716219981857}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07116955730703677}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0729928191271213}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06946651229597005}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07128914515116118}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06733851091347394}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06916037890723432}], "left_finger_force_n": 0.3862656190570354, "right_finger_force_n": 0.42141692370199757, "bilateral_contact": true, "supported": false, "lift_m": 0.01813494452286883}, "target_sequence": 11560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 289, "source_target": [-0.4772302806377411, -1.5059500932693481, 1.8121449947357178, 1.1981240510940552, -1.0704487562179565, 0.0], "source_tool_goal_m": [-0.09865881308488056, -0.228353282918282, 0.04277531580782998], "target_tool_goal_m": [0.17248138312293612, 0.18267158883057724, 0.11858984215736856], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11560, "api_command_sequence": 289, "api_accepted_sequence": 289, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7125303428762734, "joint2": 1.6243175077856742, "joint3": 1.345030511800268, "joint4": -1.2593123238038895, "joint5": -0.14121159824187307, "joint6": 0.04895225886703132, "gripper": 0.0}, "target_simulation_time": 23.19999999999802, "target_positions": {"joint1": 0.7123230349709857, "joint2": 1.6215532217809714, "joint3": 1.3467654678701828, "joint4": -1.263152324890168, "joint5": -0.1415320786678469, "joint6": 0.04896592756714115, "gripper": 0.008077001019837087}, "target_object": {"position_m": [0.1727138699235173, 0.183302530806639, 0.11658526040349243], "quaternion_wxyz": [0.43678841177668365, 0.05379420226879313, -0.05250583814104785, 0.8964179851503276], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06161670855216584}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06342241300623605}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06334030888319477}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06514657696689988}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06549556859033771}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06730256296276885}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07118909033802961}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07299899812062341}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06946207980703292}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07127135330175796}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06730414661083528}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0691126490779551}], "left_finger_force_n": 0.3863241389616031, "right_finger_force_n": 0.4213383172562343, "bilateral_contact": true, "supported": false, "lift_m": 0.016463891375609968}, "target_sequence": 11600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 290, "source_target": [-0.4789469540119171, -1.5036945343017578, 1.819566011428833, 1.1874788999557495, -1.0696707963943481, 0.0], "source_tool_goal_m": [-0.09899323543440089, -0.2282256955498774, 0.04144928628744042], "target_tool_goal_m": [0.17246991346032395, 0.18302320947034276, 0.11726381263697899], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11600, "api_command_sequence": 290, "api_accepted_sequence": 290, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7133118719879301, "joint2": 1.629171686125415, "joint3": 1.344258445204092, "joint4": -1.2577493851912531, "joint5": -0.14164864326177506, "joint6": 0.04905165768244909, "gripper": 0.0}, "target_simulation_time": 23.279999999997976, "target_positions": {"joint1": 0.7123550061027802, "joint2": 1.6271762865462505, "joint3": 1.3456797829754141, "joint4": -1.261799426944151, "joint5": -0.1414540813261823, "joint6": 0.04894844388729496, "gripper": 0.008077057897918022}, "target_object": {"position_m": [0.17281233920374284, 0.18338006169952709, 0.11499713903017737], "quaternion_wxyz": [0.43696648431802154, 0.05481857034388059, -0.05002112411763294, 0.8964112354662953], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06163429770296602}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0634646473744587}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06333109145208884}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06516200359503657}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06545281836854956}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06728445492674498}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07115087816797004}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07298543550893158}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06945076996386429}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07128469549684867}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06732643673727436}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06915959391411919}], "left_finger_force_n": 0.38632931341984467, "right_finger_force_n": 0.4213578097890081, "bilateral_contact": true, "supported": false, "lift_m": 0.01487577000229491}, "target_sequence": 11640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 291, "source_target": [-0.47717180848121643, -1.501436710357666, 1.828123927116394, 1.176890254020691, -1.0686020851135254, 0.0], "source_tool_goal_m": [-0.09857970758242238, -0.2282344797131869, 0.039964248835623745], "target_tool_goal_m": [0.17261913608849278, 0.18264504468258277, 0.11577877518516233], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11640, "api_command_sequence": 291, "api_accepted_sequence": 291, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7123161856093554, "joint2": 1.6341966569455042, "joint3": 1.3429040596185111, "joint4": -1.2572414320260656, "joint5": -0.14090297331435825, "joint6": 0.048848757926191526, "gripper": 0.0}, "target_simulation_time": 23.35999999999793, "target_positions": {"joint1": 0.7123579195475434, "joint2": 1.6321983392862904, "joint3": 1.344359889762926, "joint4": -1.2609479100814114, "joint5": -0.14131147359598248, "joint6": 0.04889891462442748, "gripper": 0.008076950108968452}, "target_object": {"position_m": [0.17277215003703936, 0.18331332920679896, 0.1135140969310642], "quaternion_wxyz": [0.43714420636147133, 0.055839246986582526, -0.04746094307689513, 0.8964007921810547], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061627855845871674}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06343955167977801}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06334531089158534}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06515757018064383}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06549288327102111}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.0673058685365694}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07117615956405335}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07299206246761035}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06945531467904349}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07127058371068899}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0673050820979734}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06911958052750905}], "left_finger_force_n": 0.3863690404054694, "right_finger_force_n": 0.42131878304687864, "bilateral_contact": true, "supported": false, "lift_m": 0.013392727903181745}, "target_sequence": 11680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 292, "source_target": [-0.47847139835357666, -1.4991660118103027, 1.8353030681610107, 1.1661731004714966, -1.0708179473876953, 0.0], "source_tool_goal_m": [-0.09885157595412726, -0.22816266958050302, 0.03867634468286367], "target_tool_goal_m": [0.17258088655219816, 0.18291876446009664, 0.11449087103240224], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11680, "api_command_sequence": 292, "api_accepted_sequence": 292, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7129914588475433, "joint2": 1.639001452128789, "joint3": 1.3422151495746668, "joint4": -1.2560359681834885, "joint5": -0.14125212374853244, "joint6": 0.048932794773112735, "gripper": 0.0}, "target_simulation_time": 23.439999999997887, "target_positions": {"joint1": 0.7123778712505661, "joint2": 1.6369633213688453, "joint3": 1.3432965777354422, "joint4": -1.2600884072241485, "joint5": -0.1412116508663324, "joint6": 0.04887074051837022, "gripper": 0.008076997024254438}, "target_object": {"position_m": [0.17276211836390742, 0.18328777243935032, 0.11214617331613151], "quaternion_wxyz": [0.43730319388766137, 0.05678031661937182, -0.04513991592028394, 0.8963840138305478], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061645956891367454}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06348212669321693}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06334266173876921}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.065179396031321}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06546427782199325}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06730173912786774}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07113538096253214}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07297576263850718}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0694353701977593}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07127511805600412}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06731115876105712}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06915013582500554}], "left_finger_force_n": 0.3864161583045356, "right_finger_force_n": 0.4212829264408654, "bilateral_contact": true, "supported": false, "lift_m": 0.01202480428824905}, "target_sequence": 11720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 293, "source_target": [-0.4768895208835602, -1.4968401193618774, 1.8424547910690308, 1.155527949333191, -1.0693122148513794, 0.0], "source_tool_goal_m": [-0.09858562004175193, -0.22837076749615276, 0.03738572012740109], "target_tool_goal_m": [0.17249335608486055, 0.18259859990447397, 0.11320024647693966], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11720, "api_command_sequence": 293, "api_accepted_sequence": 293, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7125450733975488, "joint2": 1.6432850041957734, "joint3": 1.3408402181821346, "joint4": -1.2559398121392302, "joint5": -0.14084628463295093, "joint6": 0.048816074163537365, "gripper": 0.0}, "target_simulation_time": 23.519999999997843, "target_positions": {"joint1": 0.7123858259299833, "joint2": 1.641379887035834, "joint3": 1.3422703477302156, "joint4": -1.2593023154872685, "joint5": -0.1410872714740349, "joint6": 0.048828857339019184, "gripper": 0.008076993419050126}, "target_object": {"position_m": [0.17274699133162136, 0.1832485208773346, 0.11087044678273683], "quaternion_wxyz": [0.43744609269067225, 0.05764482032390867, -0.04296574537517799, 0.8963659606454518], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061653522779520784}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06348195192750526}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0633559823809766}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06518497553094145}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0654847972372793}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06731451685926006}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07113511801377337}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0729677594231852}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06942932560748573}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07126133331251068}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0672978934014407}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06912913052415581}], "left_finger_force_n": 0.38647574671548346, "right_finger_force_n": 0.4212205602825515, "bilateral_contact": true, "supported": false, "lift_m": 0.01074907775485437}, "target_sequence": 11760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 294, "source_target": [-0.47899937629699707, -1.4944895505905151, 1.8501909971237183, 1.146543025970459, -1.070845603942871, 0.0], "source_tool_goal_m": [-0.09882192222237023, -0.22786724796849417, 0.03599030993159549], "target_tool_goal_m": [0.17285993129927513, 0.1830041777318887, 0.11180483628113408], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11760, "api_command_sequence": 294, "api_accepted_sequence": 294, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7127871307463463, "joint2": 1.6486462251990701, "joint3": 1.3405448122141665, "joint4": -1.2535421349227025, "joint5": -0.14087557591738784, "joint6": 0.0488302199579663, "gripper": 0.0}, "target_simulation_time": 23.5999999999978, "target_positions": {"joint1": 0.7123995600227193, "joint2": 1.6459592436861674, "joint3": 1.3416318053142202, "joint4": -1.2581086012645168, "joint5": -0.14097605547446926, "joint6": 0.04879590176300269, "gripper": 0.008077033744886757}, "target_object": {"position_m": [0.17286722261662354, 0.1833309456672372, 0.10962526083915519], "quaternion_wxyz": [0.437567063784133, 0.05839498780061606, -0.041074453544617445, 0.8963470194947435], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061664506403964675}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06350701362991093}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06335948717004244}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06520256060768441}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06547894716446295}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06732274981011548}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07111107570060737}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07295779793750488}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06941280215247925}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07125888894475702}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06729076079203686}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06913607479950788}], "left_finger_force_n": 0.3865352647861809, "right_finger_force_n": 0.42116740032689326, "bilateral_contact": true, "supported": false, "lift_m": 0.00950389181127273}, "target_sequence": 11800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 295, "source_target": [-0.47805333137512207, -1.4921655654907227, 1.8583052158355713, 1.1345493793487549, -1.067927360534668, 0.0], "source_tool_goal_m": [-0.09866911518448186, -0.22801153931626275, 0.03458864981043153], "target_tool_goal_m": [0.17278722711798805, 0.18281082577214403, 0.11040317615997011], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11800, "api_command_sequence": 295, "api_accepted_sequence": 295, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7126054164974502, "joint2": 1.6533088835496257, "joint3": 1.3391454207873492, "joint4": -1.2529540042766403, "joint5": -0.14057868577970575, "joint6": 0.04874253518926048, "gripper": 0.0}, "target_simulation_time": 23.679999999997754, "target_positions": {"joint1": 0.7124076631140237, "joint2": 1.650718539178598, "joint3": 1.3409474154064458, "joint4": -1.2569432617727985, "joint5": -0.14084866789899747, "joint6": 0.048753642280361886, "gripper": 0.00807712295261294}, "target_object": {"position_m": [0.17298203801821968, 0.18340325990590015, 0.10832984835986012], "quaternion_wxyz": [0.43769126135957104, 0.05917858802999533, -0.03908439035201999, 0.8963239731698888], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06167855940751451}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.0635186561341172}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06337271095162515}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06521337295769483}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06549113391757803}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06733252392476663}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07109946035427607}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07294376741490054}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06940201633959447}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07124568897365198}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06728101139185769}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.0691239124720971}], "left_finger_force_n": 0.38660695729329636, "right_finger_force_n": 0.42109585694637786, "bilateral_contact": true, "supported": false, "lift_m": 0.008208479331977658}, "target_sequence": 11840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 296, "source_target": [-0.47730910778045654, -1.4908196926116943, 1.8651318550109863, 1.1265945434570312, -1.069259762763977, 0.0], "source_tool_goal_m": [-0.09842103195077156, -0.22786277252846127, 0.0334928837334139], "target_tool_goal_m": [0.1730163689391, 0.18264250783938038, 0.10930741008295247], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11840, "api_command_sequence": 296, "api_accepted_sequence": 296, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.711899440400846, "joint2": 1.6574200218076085, "joint3": 1.3386303620864903, "joint4": -1.2522912047688073, "joint5": -0.14002420113862674, "joint6": 0.04858178780140576, "gripper": 0.0}, "target_simulation_time": 23.75999999999771, "target_positions": {"joint1": 0.7123923823942397, "joint2": 1.6553272469376061, "joint3": 1.3400185725438816, "joint4": -1.256081694987382, "joint5": -0.14066818400936487, "joint6": 0.0486872881009258, "gripper": 0.008077042764762225}, "target_object": {"position_m": [0.1729942983448934, 0.18336626520761512, 0.10702555981544278], "quaternion_wxyz": [0.4378273079557745, 0.06001985833026146, -0.03689128499321003, 0.8962945375855895], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06167069011067613}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06350096916020215}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06337637737301392}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0652072225389739}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06550923048189053}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06734080488477416}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07111661693252141}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07295109748464855}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06940760493804675}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07124144986242223}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06727215162114741}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06910522368070776}], "left_finger_force_n": 0.3866052945495308, "right_finger_force_n": 0.4210941445194941, "bilateral_contact": true, "supported": false, "lift_m": 0.006904190787560313}, "target_sequence": 11880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 297, "source_target": [-0.479026734828949, -1.4891266822814941, 1.8706328868865967, 1.119369626045227, -1.0695726871490479, 0.0], "source_tool_goal_m": [-0.09867358208836621, -0.2275745961180344, 0.03251476035459655], "target_tool_goal_m": [0.173181578996096, 0.18298095963162073, 0.10832928670413514], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11880, "api_command_sequence": 297, "api_accepted_sequence": 297, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7123400009487147, "joint2": 1.6615446327303, "joint3": 1.3387357179645436, "joint4": -1.2509832651160815, "joint5": -0.1402336945942258, "joint6": 0.04862256163147088, "gripper": 0.0}, "target_simulation_time": 23.839999999997666, "target_positions": {"joint1": 0.7123885768548065, "joint2": 1.659766932856777, "joint3": 1.3395345529886187, "joint4": -1.2551899031580265, "joint5": -0.14052156375490116, "joint6": 0.04863885700500196, "gripper": 0.008077017230443411}, "target_object": {"position_m": [0.17308422471602875, 0.18340769779935528, 0.10584981385288905], "quaternion_wxyz": [0.4379436878146947, 0.06075465564592522, -0.034989106062444306, 0.8962644479045015], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061682860872973755}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06353320466370473}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06337347797861077}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06522438926146326}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06548747993861025}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06733912201358337}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07108576371142271}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07294031776562983}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06939188169713657}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0712457994469762}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06727532531588895}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06912846918920994}], "left_finger_force_n": 0.3866405347289461, "right_finger_force_n": 0.4210675571262642, "bilateral_contact": true, "supported": false, "lift_m": 0.00572844482500659}, "target_sequence": 11920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 298, "source_target": [-0.4785076379776001, -1.486297369003296, 1.879773736000061, 1.1120219230651855, -1.0688811540603638, 0.0], "source_tool_goal_m": [-0.09814608987054356, -0.2267942879762782, 0.030834807899396577], "target_tool_goal_m": [0.1740893615621082, 0.1827994356055242, 0.10664933424893516], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11920, "api_command_sequence": 298, "api_accepted_sequence": 298, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7104675794294144, "joint2": 1.667686354798, "joint3": 1.338247308643261, "joint4": -1.2483858392090528, "joint5": -0.13877247837009438, "joint6": 0.048241622218465396, "gripper": 0.0}, "target_simulation_time": 23.91999999999762, "target_positions": {"joint1": 0.7123280112909953, "joint2": 1.6644669804637404, "joint3": 1.3393801478932676, "joint4": -1.2527329242985366, "joint5": -0.14024024808082577, "joint6": 0.04852956162969322, "gripper": 0.008076983410039242}, "target_object": {"position_m": [0.17354257565281753, 0.1837171879615346, 0.10461575513549987], "quaternion_wxyz": [0.43800151442721463, 0.06110570609369645, -0.03381524818009299, 0.8962573821357214], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.061679726840423096}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06349022863716307}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06340743810451585}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06521850778449792}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06556784260955696}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06737964410736533}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07112629461365598}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07294096063945406}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06939521261112697}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07120924103106012}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06723219474903135}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06904544820490995}], "left_finger_force_n": 0.3867433880835222, "right_finger_force_n": 0.42094935184923843, "bilateral_contact": true, "supported": false, "lift_m": 0.004494386107617404}, "target_sequence": 11960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 299, "source_target": [-0.47679799795150757, -1.4852606058120728, 1.8834576606750488, 1.1048506498336792, -1.0677412748336792, 0.0], "source_tool_goal_m": [-0.09795517237688924, -0.22719830380415976, 0.03022858252145902], "target_tool_goal_m": [0.17379572649653707, 0.1824728169392145, 0.1060431088709976], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 11960, "api_command_sequence": 299, "api_accepted_sequence": 299, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7104025739567127, "joint2": 1.6697282819275057, "joint3": 1.3373958857612442, "joint4": -1.2492431198630094, "joint5": -0.13858007689513327, "joint6": 0.048124039491959994, "gripper": 0.0}, "target_simulation_time": 23.999999999997577, "target_positions": {"joint1": 0.7122578498444035, "joint2": 1.6687366128827206, "joint3": 1.3388942537237138, "joint4": -1.2517971731177273, "joint5": -0.1399419630987843, "joint6": 0.048409766665230024, "gripper": 0.008077093062592073}, "target_object": {"position_m": [0.1736767731961774, 0.18373800020287415, 0.10346797031154487], "quaternion_wxyz": [0.43810432442181385, 0.06171694376353449, -0.0320116907926713, 0.8962314831716123], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06169870683119553}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06351482609436102}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06340831589401479}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06522499906569705}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06554607632017126}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06736348592098403}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07110436159998666}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07292460300678892}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06939146381047007}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07121107339178855}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06725115697411718}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06906999839345562}], "left_finger_force_n": 0.38675641012642364, "right_finger_force_n": 0.420952657176607, "bilateral_contact": true, "supported": false, "lift_m": 0.0033466012836624037}, "target_sequence": 12000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 300, "source_target": [-0.4801798164844513, -1.482026219367981, 1.8866478204727173, 1.0968412160873413, -1.070150375366211, 0.0], "source_tool_goal_m": [-0.09870256657757763, -0.2271102986197819, 0.02931474905422328], "target_tool_goal_m": [0.1735914057941031, 0.1831837140320162, 0.10512927540376188], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12000, "api_command_sequence": 300, "api_accepted_sequence": 300, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7123177394150473, "joint2": 1.6737264498712165, "joint3": 1.337585604496785, "joint4": -1.247972164490376, "joint5": -0.13963818672127506, "joint6": 0.04836713177985445, "gripper": 0.0}, "target_simulation_time": 24.079999999997533, "target_positions": {"joint1": 0.712251336789613, "joint2": 1.6722412863857474, "joint3": 1.3383857806333455, "joint4": -1.2511079523834252, "joint5": -0.13979590839306605, "joint6": 0.04836044105082924, "gripper": 0.00807715444195617}, "target_object": {"position_m": [0.17371348340928222, 0.18373157344635171, 0.10250870530317172], "quaternion_wxyz": [0.4381947803668799, 0.06231285057752975, -0.030434871819864106, 0.8962009605492696], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06173885342339574}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06360512299505149}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.0633943452195546}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06526117565967146}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06546440992120464}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06733196213678631}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07101568076414132}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07288612150053562}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06935704916785257}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.07122686268301152}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.06728452090936111}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06915357116037284}], "left_finger_force_n": 0.38679586935566423, "right_finger_force_n": 0.420923806185275, "bilateral_contact": true, "supported": false, "lift_m": 0.0023873362752892535}, "target_sequence": 12040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 301, "source_target": [-0.48030805587768555, -1.4831045866012573, 1.8954380750656128, 1.084856629371643, -1.0683085918426514, 0.0], "source_tool_goal_m": [-0.09879521543529213, -0.22723835610359672, 0.028439730186026288], "target_tool_goal_m": [0.17344011673649018, 0.18321901640273539, 0.10425425653556486], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12040, "api_command_sequence": 301, "api_accepted_sequence": 301, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7127232765676822, "joint2": 1.6769399252547432, "joint3": 1.336987402890748, "joint4": -1.2476567161915229, "joint5": -0.13976984922941674, "joint6": 0.04838795458198139, "gripper": 0.0}, "target_simulation_time": 24.15999999999749, "target_positions": {"joint1": 0.7122665211132504, "joint2": 1.6754140799093102, "joint3": 1.3381383172722492, "joint4": -1.2504385450262725, "joint5": -0.13970580805489938, "joint6": 0.04833339674262269, "gripper": 0.008077134241332336}, "target_object": {"position_m": [0.17378925631047687, 0.1837808510965988, 0.10168406163808559], "quaternion_wxyz": [0.4382634307068078, 0.0628187354278318, -0.029138817966084612, 0.896175150889539], "contacts": [{"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06175604644396187}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06363078502801506}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06340170171645275}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.06527699999520192}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.06545946172512981}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.06733548015478014}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07098904521210535}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07286799673336498}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.06934024666119211}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0712185715846332}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.0672800008553892}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.06915756313729311}], "left_finger_force_n": 0.38686047506354154, "right_finger_force_n": 0.420853424183978, "bilateral_contact": true, "supported": false, "lift_m": 0.0015626926102031286}, "target_sequence": 12080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 302, "source_target": [-0.48064249753952026, -1.4809144735336304, 1.898011326789856, 1.0838582515716553, -1.0717865228652954, 0.0], "source_tool_goal_m": [-0.09859537932124102, -0.22669086047247738, 0.027709746498584348], "target_tool_goal_m": [0.17401233140324712, 0.18324598963405989, 0.10352427284812293], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12080, "api_command_sequence": 302, "api_accepted_sequence": 302, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7117924669131778, "joint2": 1.6801356492523436, "joint3": 1.3374275201602002, "joint4": -1.2463455277408881, "joint5": -0.13910355002615485, "joint6": 0.048213624338229906, "gripper": 0.0}, "target_simulation_time": 24.239999999997444, "target_positions": {"joint1": 0.7122546301901551, "joint2": 1.6783359507621096, "joint3": 1.3380345402683311, "joint4": -1.249763854673525, "joint5": -0.1395801150463258, "joint6": 0.0482918889070856, "gripper": 0.008078282942813627}, "target_object": {"position_m": [0.1738999798109992, 0.1838461010156825, 0.10094370522880292], "quaternion_wxyz": [0.43833134681782593, 0.06319491009730457, -0.028019733712150243, 0.8961511748903558], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.4408516113880061}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.2988189356906433}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.06552571442878898}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06783578064384282}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07125087956782797}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.0735623400231651}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.0784103625590991}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.08072365911502109}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.06693854358815798}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.06925112584648822}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.0612102890139905}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0635214662980504}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.05405287312414141}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.05636238743906537}], "left_finger_force_n": 0.43730873633774503, "right_finger_force_n": 0.3713366853098939, "bilateral_contact": true, "supported": true, "lift_m": 0.0008223362009204538}, "target_sequence": 12120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 303, "source_target": [-0.4794176518917084, -1.4776920080184937, 1.9047000408172607, 1.078111171722412, -1.0693798065185547, 0.0], "source_tool_goal_m": [-0.09801460477052626, -0.2261320855546335, 0.02629584660457837], "target_tool_goal_m": [0.17473956696097212, 0.18293196370717946, 0.10211037295411696], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12120, "api_command_sequence": 303, "api_accepted_sequence": 303, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7099840177292666, "joint2": 1.684989038072697, "joint3": 1.3367111614693972, "joint4": -1.2442905879303856, "joint5": -0.13766245354570933, "joint6": 0.04783656917010679, "gripper": 0.0}, "target_simulation_time": 24.3199999999974, "target_positions": {"joint1": 0.712198142298891, "joint2": 1.679836362308059, "joint3": 1.3380379064886354, "joint4": -1.249521340268693, "joint5": -0.13964790557281728, "joint6": 0.04834920689338936, "gripper": 0.008092113954322631}, "target_object": {"position_m": [0.17392964243004813, 0.18389182948648866, 0.1005938800406216], "quaternion_wxyz": [0.43852672933023423, 0.06307195643058448, -0.027057283293468348, 0.8960938228755542], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.5926832488733386}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.39677199942776203}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.05582671235990546}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.06129751070300147}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07697703762734714}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.08246598032255908}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.10352220216759747}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.10904038255476842}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.0706424819390597}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.07363030127540922}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.05266087368472329}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.055567487240964664}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.03059467111000004}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.03343372091641582}], "left_finger_force_n": 0.48912982573517905, "right_finger_force_n": 0.31652953616657276, "bilateral_contact": true, "supported": true, "lift_m": 0.000472511012739138}, "target_sequence": 12160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 304, "source_target": [-0.4796532690525055, -1.4777683019638062, 1.9058889150619507, 1.0748244524002075, -1.0704460144042969, 0.0], "source_tool_goal_m": [-0.09817871588733626, -0.22633809325340618, 0.026185685544361736], "target_tool_goal_m": [0.17449045975292266, 0.18300241080496785, 0.10200021189390032], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12160, "api_command_sequence": 304, "api_accepted_sequence": 304, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7104953244770498, "joint2": 1.685673021222864, "joint3": 1.3367382656880995, "joint4": -1.2448463765169322, "joint5": -0.13814501862337655, "joint6": 0.04799633988489432, "gripper": 0.0}, "target_simulation_time": 24.399999999997355, "target_positions": {"joint1": 0.7121525278534911, "joint2": 1.680076996326626, "joint3": 1.3380609480739765, "joint4": -1.249422972983393, "joint5": -0.1397623263348073, "joint6": 0.048426599181876105, "gripper": 0.00809374406013796}, "target_object": {"position_m": [0.17394539666870765, 0.18391359269137825, 0.10054950342885238], "quaternion_wxyz": [0.43866069358004084, 0.06292150792049997, -0.026745025636165716, 0.8960482036992263], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.5652733206557551}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.3624170222114693}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.04455094734954768}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.05155070759108655}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07254365795814754}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.07957498632886226}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.10774777088786144}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.11483757748809227}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07996787211245582}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.0870098445586294}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.05397375113954386}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.058946589292891864}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.025039563461201404}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.029592394470075303}], "left_finger_force_n": 0.4708056476035978, "right_finger_force_n": 0.3345300150347976, "bilateral_contact": true, "supported": true, "lift_m": 0.0004281344009699206}, "target_sequence": 12200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 305, "source_target": [-0.4773346483707428, -1.476258397102356, 1.9095109701156616, 1.0704288482666016, -1.0702779293060303, 0.0], "source_tool_goal_m": [-0.09766163491197609, -0.2263787407121809, 0.02547856525507547], "target_tool_goal_m": [0.17465016239469952, 0.1825182729581835, 0.10129309160461406], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12200, "api_command_sequence": 305, "api_accepted_sequence": 305, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7092230924264307, "joint2": 1.687413066113526, "joint3": 1.335478501327113, "joint4": -1.2444047980677508, "joint5": -0.1372961167458517, "joint6": 0.047822223373360485, "gripper": 0.0}, "target_simulation_time": 24.47999999999731, "target_positions": {"joint1": 0.7120757846302695, "joint2": 1.6802778910658098, "joint3": 1.3380638508845315, "joint4": -1.2493139873310957, "joint5": -0.13984547759082752, "joint6": 0.048485022501355064, "gripper": 0.008097140602268996}, "target_object": {"position_m": [0.1739637188267311, 0.1839294318480528, 0.1005148275158933], "quaternion_wxyz": [0.43878619902252364, 0.06284755676829412, -0.026514857225247646, 0.8959987826453495], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.6390261052166765}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.41597019145874475}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.04303371035570062}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.051570202917645094}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07672146240730772}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.08530663207239818}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.11916239443341935}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.12784317255244534}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.07842485327615215}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.08701649658591161}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.050228532898887}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05636878302229085}, {"geom": "geom_55", "body": "rf_down", "normal_force_n": 0.01565566166712931}, {"geom": "geom_56", "body": "rf_down", "normal_force_n": 0.021749600046321434}], "left_finger_force_n": 0.5036375747389163, "right_finger_force_n": 0.30944392749669236, "bilateral_contact": true, "supported": true, "lift_m": 0.0003934584880108394}, "target_sequence": 12240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 306, "source_target": [-0.4784524142742157, -1.4771535396575928, 1.9136408567428589, 1.0660758018493652, -1.0696425437927246, 0.0], "source_tool_goal_m": [-0.09781906722544759, -0.2261853068307203, 0.025123896795720427], "target_tool_goal_m": [0.1747656517725082, 0.18273449671846068, 0.10093842314525903], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12240, "api_command_sequence": 306, "api_accepted_sequence": 306, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7094205474717413, "joint2": 1.6886524872572986, "joint3": 1.3353936287223895, "joint4": -1.243335592340773, "joint5": -0.1374978529306882, "joint6": 0.04792159440749701, "gripper": 0.0}, "target_simulation_time": 24.559999999997267, "target_positions": {"joint1": 0.7120067923712923, "joint2": 1.6806572577059296, "joint3": 1.3380787099467313, "joint4": -1.2491662758582764, "joint5": -0.14000262780881165, "joint6": 0.048574214881549206, "gripper": 0.008104758023325824}, "target_object": {"position_m": [0.17397972170529752, 0.18396101920964497, 0.10045158181583516], "quaternion_wxyz": [0.4389893869225773, 0.06250969543074467, -0.02601270320365574, 0.895937606878143], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.7369629082076063}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.4748710050829092}, {"geom": "geom_36", "body": "lf_down", "normal_force_n": 0.029724242977649723}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.04101294624403138}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07497826726847887}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.08723760875347025}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.14380834944031098}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.15629970759876494}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.09449451883049029}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.10310699268627267}, {"geom": "geom_53", "body": "rf_down", "normal_force_n": 0.049443553355989475}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.0579415121814897}], "left_finger_force_n": 0.5330611222827062, "right_finger_force_n": 0.30498657705424215, "bilateral_contact": true, "supported": true, "lift_m": 0.0003302127879526995}, "target_sequence": 12280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 307, "source_target": [-0.4789198935031891, -1.4747906923294067, 1.9140139818191528, 1.0647048950195312, -1.071465015411377, 0.0], "source_tool_goal_m": [-0.09786178144250003, -0.2260513090096126, 0.024675552981576684], "target_tool_goal_m": [0.1748708728086121, 0.18282414678301598, 0.10049007933111527], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12280, "api_command_sequence": 307, "api_accepted_sequence": 307, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7093520941202862, "joint2": 1.6901082613856695, "joint3": 1.3350758430811789, "joint4": -1.2424116020389278, "joint5": -0.13757650345372985, "joint6": 0.04799784579664134, "gripper": 0.0}, "target_simulation_time": 24.639999999997222, "target_positions": {"joint1": 0.7119455115151075, "joint2": 1.6811709171779885, "joint3": 1.33810820379687, "joint4": -1.2489780001772104, "joint5": -0.1402578624852251, "joint6": 0.0487016561634434, "gripper": 0.008120830678237562}, "target_object": {"position_m": [0.17398915496966028, 0.184012637770975, 0.10038026661873507], "quaternion_wxyz": [0.4392598696718466, 0.06176502388275969, -0.025154454112697875, 0.8958811875237287], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.8438262129624978}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.5253641503977478}, {"geom": "geom_37", "body": "lf_down", "normal_force_n": 0.021001618259995896}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.07764365392964595}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.09378889928871349}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.18065551780477226}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.19789419308610065}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.11498562984302256}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.12604597936016226}, {"geom": "geom_54", "body": "rf_down", "normal_force_n": 0.05100328761321044}], "left_finger_force_n": 0.5709838823692283, "right_finger_force_n": 0.2920348968163953, "bilateral_contact": true, "supported": true, "lift_m": 0.0002588975908526109}, "target_sequence": 12320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 308, "source_target": [-0.47823742032051086, -1.4744842052459717, 1.9159764051437378, 1.0605480670928955, -1.0713399648666382, 0.0], "source_tool_goal_m": [-0.09782983020864365, -0.22629508378579882, 0.024404809172706265], "target_tool_goal_m": [0.17466205773772014, 0.1827025254465152, 0.10021933552224485], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12320, "api_command_sequence": 308, "api_accepted_sequence": 308, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7093514160280414, "joint2": 1.6907882012537088, "joint3": 1.3344226834351733, "joint4": -1.2426754949427354, "joint5": -0.13781712708930832, "joint6": 0.04811764926746576, "gripper": 0.0}, "target_simulation_time": 24.719999999997178, "target_positions": {"joint1": 0.7118896055672446, "joint2": 1.6816154908125265, "joint3": 1.3381366517978697, "joint4": -1.2488136087949941, "joint5": -0.14057619992368556, "joint6": 0.04885213470671262, "gripper": 0.00813178962608055}, "target_object": {"position_m": [0.17399451466253188, 0.18405833246612768, 0.10034001899571567], "quaternion_wxyz": [0.4395075275522098, 0.06099941506838663, -0.024399681871192094, 0.895833053705233], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.8797565826857587}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.5335955645317552}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06594306937777496}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.08344826841685901}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.19605014675353738}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.21711120947765178}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.13425976261382835}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.14973087994166379}], "left_finger_force_n": 0.5625526940258231, "right_finger_force_n": 0.2839906425554921, "bilateral_contact": true, "supported": true, "lift_m": 0.00021864996783320378}, "target_sequence": 12360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 309, "source_target": [-0.4795072674751282, -1.4725608825683594, 1.9201098680496216, 1.060003638267517, -1.0718152523040771, 0.0], "source_tool_goal_m": [-0.09762365906552807, -0.22533013987138653, 0.023513274704985404], "target_tool_goal_m": [0.1756150597790294, 0.18288243140828964, 0.09932780105452399], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12360, "api_command_sequence": 309, "api_accepted_sequence": 309, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7079181244731866, "joint2": 1.6940302172014101, "joint3": 1.334633520750665, "joint4": -1.2395479298715184, "joint5": -0.13709843191638227, "joint6": 0.048021843642822505, "gripper": 0.0}, "target_simulation_time": 24.799999999997134, "target_positions": {"joint1": 0.7118043413427315, "joint2": 1.6824935522461701, "joint3": 1.338196535474305, "joint4": -1.2484898708422532, "joint5": -0.14096602849691076, "joint6": 0.049030388449202614, "gripper": 0.008175714414900542}, "target_object": {"position_m": [0.17400326945551223, 0.1841473945295453, 0.10023806471452464], "quaternion_wxyz": [0.4398937533786479, 0.05969627976773311, -0.022777963724877396, 0.895773969419119], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 1.1279281722012722}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.6359163924683462}, {"geom": "geom_38", "body": "lf_down", "normal_force_n": 0.06523364227119972}, {"geom": "geom_39", "body": "lf_down", "normal_force_n": 0.09230537409940642}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.26877543690683303}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.2989443430857258}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.13764540480605073}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.15566725341769233}], "left_finger_force_n": 0.725258796363165, "right_finger_force_n": 0.2933126582237431, "bilateral_contact": true, "supported": true, "lift_m": 0.00011669568664217367}, "target_sequence": 12400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 310, "source_target": [-0.47889599204063416, -1.4719499349594116, 1.920599102973938, 1.0580577850341797, -1.0710511207580566, 0.0], "source_tool_goal_m": [-0.09757584489851477, -0.22551297257926517, 0.023363181915641795], "target_tool_goal_m": [0.1754675128275997, 0.18276959623213573, 0.09917770826518038], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12400, "api_command_sequence": 310, "api_accepted_sequence": 310, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7077323814555682, "joint2": 1.6945216906596705, "joint3": 1.334307748801539, "joint4": -1.239964501652527, "joint5": -0.13741615851237896, "joint6": 0.04817428700883448, "gripper": 0.0}, "target_simulation_time": 24.87999999999709, "target_positions": {"joint1": 0.7117166456470089, "joint2": 1.683335403216408, "joint3": 1.3382663233947165, "joint4": -1.2482196462670263, "joint5": -0.14146461938322188, "joint6": 0.0492467186821477, "gripper": 0.008228003226454228}, "target_object": {"position_m": [0.17401100427601213, 0.1842156640187547, 0.10020014637292685], "quaternion_wxyz": [0.4402472658894305, 0.05857759891769553, -0.021549146237044164, 0.89570455177942], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 1.1105555067961963}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.580532803052584}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.3064992198102043}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.33651311004627865}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.1479038106691741}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.17161351325231428}], "left_finger_force_n": 0.6430123298564829, "right_finger_force_n": 0.31951732392148835, "bilateral_contact": true, "supported": true, "lift_m": 7.877734504438405e-05}, "target_sequence": 12440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 311, "source_target": [-0.47812342643737793, -1.4721585512161255, 1.9192713499069214, 1.0572110414505005, -1.0723196268081665, 0.0], "source_tool_goal_m": [-0.09762974836420116, -0.2259559037924127, 0.02358939378048859], "target_tool_goal_m": [0.17504554638638944, 0.18265009378760302, 0.09940392013002718], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12440, "api_command_sequence": 311, "api_accepted_sequence": 311, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7079324850911686, "joint2": 1.6938354347611904, "joint3": 1.3341582714531266, "joint4": -1.241425513442649, "joint5": -0.13816718010171408, "joint6": 0.04844109165311446, "gripper": 0.0}, "target_simulation_time": 24.959999999997045, "target_positions": {"joint1": 0.7115827224655749, "joint2": 1.6838658013857934, "joint3": 1.3383054659726823, "joint4": -1.248038977325742, "joint5": -0.1417351254191498, "joint6": 0.049370609213376486, "gripper": 0.00823427307638372}, "target_object": {"position_m": [0.17404195095708427, 0.18421196217561478, 0.1002666785514959], "quaternion_wxyz": [0.4404738844706184, 0.058894116070403124, -0.02161547193107544, 0.8955707741797101], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.9716478240841236}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.4950259878742301}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.2601198332226021}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.28918718394550935}, {"geom": "geom_51", "body": "rf_down", "normal_force_n": 0.11715222854721916}, {"geom": "geom_52", "body": "rf_down", "normal_force_n": 0.14462652725662065}], "left_finger_force_n": 0.5493070171681115, "right_finger_force_n": 0.2617787558038398, "bilateral_contact": true, "supported": true, "lift_m": 0.00014530952361344052}, "target_sequence": 12480, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 312, "source_target": [-0.4798673987388611, -1.4751640558242798, 1.9180818796157837, 1.0596580505371094, -1.0703986883163452, 0.1640625], "source_tool_goal_m": [-0.09801823338635648, -0.2259343739867044, 0.024247750813806035], "target_tool_goal_m": [0.17491739548464894, 0.18301040420195852, 0.10006227716334462], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12480, "api_command_sequence": 312, "api_accepted_sequence": 312, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7086348550682766, "joint2": 1.6923791477336003, "joint3": 1.3354031723448307, "joint4": -1.2421455246183364, "joint5": -0.13916698698257857, "joint6": 0.048749052540236634, "gripper": 0.008794687500000002}, "target_simulation_time": 25.039999999997, "target_positions": {"joint1": 0.711506964770163, "joint2": 1.6841557566800238, "joint3": 1.338336696650555, "joint4": -1.2478339867067916, "joint5": -0.14199266650239803, "joint6": 0.049489437818836905, "gripper": 0.008312295380318654}, "target_object": {"position_m": [0.17405294537981092, 0.18423174194986638, 0.10037375183338935], "quaternion_wxyz": [0.440671586067769, 0.05854785962367485, -0.02132593594494243, 0.8955031579073721], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.525702684114864}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.22487095167088914}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.1525192141556217}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.15501443693573075}], "left_finger_force_n": 0.30753365109135244, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 0.00025238280550689274}, "target_sequence": 12520, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 313, "source_target": [-0.47947075963020325, -1.474543809890747, 1.917888879776001, 1.060346007347107, -1.0679852962493896, 0.19140625], "source_tool_goal_m": [-0.09788944173072657, -0.22587348307927635, 0.02415776487572313], "target_tool_goal_m": [0.17502154218894145, 0.18291681116817682, 0.09997229122526172], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12520, "api_command_sequence": 313, "api_accepted_sequence": 313, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7081112095609389, "joint2": 1.6926721736390822, "joint3": 1.335327005997503, "joint4": -1.242036656270095, "joint5": -0.1391246057429846, "joint6": 0.04878750481329764, "gripper": 0.010260468750000001}, "target_simulation_time": 25.119999999996956, "target_positions": {"joint1": 0.7113877042859263, "joint2": 1.6858371113535522, "joint3": 1.3382974408366468, "joint4": -1.2471474049279452, "joint5": -0.1419975013007947, "joint6": 0.0494858561221128, "gripper": 0.008596546887236704}, "target_object": {"position_m": [0.1738950199939697, 0.18421894086762794, 0.10061465763516475], "quaternion_wxyz": [0.4406216806537751, 0.05500365265230053, -0.023336689795128054, 0.8957022561332272], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.3859590683137149}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.21757466025783445}, {"geom": "geom_40", "body": "lf_down", "normal_force_n": 0.10497162998889992}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.12035817166473997}], "left_finger_force_n": 0.2253298016536399, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 0.0004932886072822884}, "target_sequence": 12560, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 314, "source_target": [-0.4801875948905945, -1.4746434688568115, 1.9186302423477173, 1.0592327117919922, -1.0702974796295166, 0.25019529461860657], "source_tool_goal_m": [-0.0980312302021808, -0.2258172544053281, 0.02408716956239812], "target_tool_goal_m": [0.17501861369347407, 0.18306670257945737, 0.0999016959119367], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12560, "api_command_sequence": 314, "api_accepted_sequence": 314, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7083475862846214, "joint2": 1.693342158916735, "joint3": 1.3357013428103637, "joint4": -1.2419927326844857, "joint5": -0.13944302932441702, "joint6": 0.04886052223621322, "gripper": 0.013411897478955135}, "target_simulation_time": 25.199999999996912, "target_positions": {"joint1": 0.7112973451883299, "joint2": 1.6887035604790976, "joint3": 1.338212152373245, "joint4": -1.246470859387028, "joint5": -0.14196031964825345, "joint6": 0.04945315320429464, "gripper": 0.009888475385429358}, "target_object": {"position_m": [0.1734666686145204, 0.18482793756156177, 0.10049824453017174], "quaternion_wxyz": [0.4412018233792046, 0.03891379288059, -0.01473668826961693, 0.8964426907445646], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.2302168563963749}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.020403583183120067}, {"geom": "geom_41", "body": "lf_down", "normal_force_n": 0.049455846926955635}], "left_finger_force_n": 0.049455846926955635, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 0.00037687550228927835}, "target_sequence": 12600, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 315, "source_target": [-0.47996827960014343, -1.4740238189697266, 1.9204384088516235, 1.0606355667114258, -1.068103551864624, 0.29052734375], "source_tool_goal_m": [-0.09769566709464107, -0.22527937812152418, 0.023717237893808918], "target_tool_goal_m": [0.17563370001740058, 0.1829669950997124, 0.0995317642433475], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12600, "api_command_sequence": 315, "api_accepted_sequence": 315, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7070018557999236, "joint2": 1.6954124251952085, "joint3": 1.3365148439704087, "joint4": -1.2413039327917432, "joint5": -0.13868983288167194, "joint6": 0.048637128492928984, "gripper": 0.015573925781250001}, "target_simulation_time": 25.279999999996868, "target_positions": {"joint1": 0.7106819935939638, "joint2": 1.6919404773578304, "joint3": 1.3381225667122285, "joint4": -1.2457532398530575, "joint5": -0.1416845387682742, "joint6": 0.04931482988761909, "gripper": 0.011917467755320469}, "target_object": {"position_m": [0.17290664264301364, 0.18562627452180303, 0.10024138792025816], "quaternion_wxyz": [0.4417438563265224, 0.017766940050435737, -0.003423456494917808, 0.8969587399566624], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.22987786582149533}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.008847697883161691}, {"geom": "geom_34", "body": "lf_down", "normal_force_n": 0.043016838718898845}], "left_finger_force_n": 0.043016838718898845, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": 0.00012001889237570063}, "target_sequence": 12640, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 316, "source_target": [-0.4808184802532196, -1.473190188407898, 1.9177045822143555, 1.061356782913208, -1.0671772956848145, 0.3397460877895355], "source_tool_goal_m": [-0.09802013096975747, -0.22552867914042238, 0.02393443824858002], "target_tool_goal_m": [0.1752844001531556, 0.18316633149695416, 0.0997489645981186], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12640, "api_command_sequence": 316, "api_accepted_sequence": 316, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7078692162624465, "joint2": 1.6956767366189442, "joint3": 1.3373806202988696, "joint4": -1.242694265417125, "joint5": -0.1396030870864967, "joint6": 0.04879288184763233, "gripper": 0.018212331711735044}, "target_simulation_time": 25.359999999996823, "target_positions": {"joint1": 0.7101313153003104, "joint2": 1.6943243924345441, "joint3": 1.3380645699751261, "joint4": -1.2452402472619453, "joint5": -0.14141427141305554, "joint6": 0.04920862062963467, "gripper": 0.01413988476761593}, "target_object": {"position_m": [0.17236699831498448, 0.1860733239614905, 0.10004296320101395], "quaternion_wxyz": [0.441873453301331, 0.0007377310220202077, 0.0005629977643891601, 0.8970769142353471], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.060055079887504935}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0619107961439726}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06072115672853735}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06259904071208278}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -7.840582686850783e-05}, "target_sequence": 12680, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 317, "source_target": [-0.48052650690078735, -1.474951982498169, 1.9195239543914795, 1.0627033710479736, -1.069486141204834, 0.36973875761032104], "source_tool_goal_m": [-0.09777917100363469, -0.22518643429196467, 0.02397867993343597], "target_tool_goal_m": [0.17568620486336273, 0.18307801246278113, 0.09979320628297456], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12680, "api_command_sequence": 317, "api_accepted_sequence": 317, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7068626607522283, "joint2": 1.6963850353006926, "joint3": 1.3384050220882298, "joint4": -1.2428766646638822, "joint5": -0.13919781045728982, "joint6": 0.048643125325278876, "gripper": 0.01982011020081384}, "target_simulation_time": 25.43999999999678, "target_positions": {"joint1": 0.7096736058024027, "joint2": 1.6952082508823128, "joint3": 1.3380513660448776, "joint4": -1.244831630598889, "joint5": -0.14112450625881465, "joint6": 0.04908665746783813, "gripper": 0.0162842030031298}, "target_object": {"position_m": [0.1723371525549403, 0.18606779582735763, 0.1000511484365348], "quaternion_wxyz": [0.44187359270564947, 0.00012878475163421546, 0.00010859529209854468, 0.8970773097626269], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06129437398536849}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061303012009700245}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613110091296673}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061320427083310015}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -7.022059134766112e-05}, "target_sequence": 12720, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 318, "source_target": [-0.48141735792160034, -1.4754319190979004, 1.9158097505569458, 1.0637701749801636, -1.067430853843689, 0.4019531309604645], "source_tool_goal_m": [-0.09823677099559214, -0.22567689200531185, 0.024555141176359083], "target_tool_goal_m": [0.1750677121856133, 0.18330635953470711, 0.10036966752589767], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12720, "api_command_sequence": 318, "api_accepted_sequence": 318, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7096736058024027, "joint2": 1.6952082508823128, "joint3": 1.3380513660448776, "joint4": -1.244831630598889, "joint5": -0.14112450625881465, "joint6": 0.04908665746783813, "gripper": 0.021546984694514958}, "target_simulation_time": 25.519999999996735, "target_positions": {"joint1": 0.7096096383411902, "joint2": 1.6952408154566068, "joint3": 1.3380483015345495, "joint4": -1.244785335912519, "joint5": -0.1410675317835025, "joint6": 0.04907315075455498, "gripper": 0.018146599215227356}, "target_object": {"position_m": [0.17233186493759348, 0.1860664876868917, 0.10005273915326596], "quaternion_wxyz": [0.44187359712755536, 2.450007917491798e-05, 2.0719415771311713e-05, 0.8970773228278641], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06130903019904154}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061310720697465716}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131225581194601}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131397441458742}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.862987461650483e-05}, "target_sequence": 12760, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 319, "source_target": [-0.48281097412109375, -1.4753072261810303, 1.9155656099319458, 1.0618411302566528, -1.0697970390319824, 0.45048826932907104], "source_tool_goal_m": [-0.09864127482262988, -0.22582203940153261, 0.024589526982664783], "target_tool_goal_m": [0.17478239451140637, 0.18361783444577376, 0.10040405333220337], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12760, "api_command_sequence": 319, "api_accepted_sequence": 319, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7096096383411902, "joint2": 1.6952408154566068, "joint3": 1.3380483015345495, "joint4": -1.244785335912519, "joint5": -0.1410675317835025, "joint6": 0.04907315075455498, "gripper": 0.02414874545472009}, "target_simulation_time": 25.59999999999669, "target_positions": {"joint1": 0.7096099893043412, "joint2": 1.6952407126367752, "joint3": 1.3380482903775301, "joint4": -1.244786159664973, "joint5": -0.1410742417753734, "joint6": 0.04907417225119434, "gripper": 0.020030717657826318}, "target_object": {"position_m": [0.17233085815604757, 0.18606623707667264, 0.1000530417888013], "quaternion_wxyz": [0.4418735972881321, 4.6614203913309975e-06, 3.953495808731387e-06, 0.8970773233017808], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613118386013184}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131216161868775}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131245542662448}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131277946030434}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.832723908116456e-05}, "target_sequence": 12800, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 320, "source_target": [-0.4800844192504883, -1.474611520767212, 1.918038249015808, 1.062660813331604, -1.0697909593582153, 0.4662109315395355], "source_tool_goal_m": [-0.09782785534836397, -0.2254746966518281, 0.024121325693029688], "target_tool_goal_m": [0.17540641567315002, 0.18301257001226956, 0.09993585204256827], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12800, "api_command_sequence": 320, "api_accepted_sequence": 320, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7096099893043412, "joint2": 1.6952407126367752, "joint3": 1.3380482903775301, "joint4": -1.244786159664973, "joint5": -0.1410742417753734, "joint6": 0.04907417225119434, "gripper": 0.024991569992985047}, "target_simulation_time": 25.679999999996646, "target_positions": {"joint1": 0.7096098858674048, "joint2": 1.6952407071428623, "joint3": 1.3380482884986402, "joint4": -1.2447862967686039, "joint5": -0.14106633209017713, "joint6": 0.049073262745902, "gripper": 0.021907106852602446}, "target_object": {"position_m": [0.17233066644156542, 0.186066189064706, 0.10005309941594023], "quaternion_wxyz": [0.44187359729396447, 8.869084746499409e-07, 7.543807226691103e-07, 0.8970773233189747], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131237404953201}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312435455581155}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312491696075645}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131255313890152}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82696119422288e-05}, "target_sequence": 12840, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 321, "source_target": [-0.4814949035644531, -1.473994493484497, 1.9183642864227295, 1.0636242628097534, -1.068640112876892, 0.4737304747104645], "source_tool_goal_m": [-0.0979565495061632, -0.22510115816337806, 0.023958640750320892], "target_tool_goal_m": [0.17569607727025072, 0.18327120417221923, 0.09977316709985948], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12840, "api_command_sequence": 321, "api_accepted_sequence": 321, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7072218802085628, "joint2": 1.6967537726920252, "joint3": 1.3387464936128752, "joint4": -1.242646280458888, "joint5": -0.1394761305300506, "joint6": 0.048671556381375145, "gripper": 0.025394660475764958}, "target_simulation_time": 25.7599999999966, "target_positions": {"joint1": 0.7095339872751467, "joint2": 1.6952834976108027, "joint3": 1.3380700837900847, "joint4": -1.2444767747850318, "joint5": -0.14087073360715466, "joint6": 0.048993540177285994, "gripper": 0.02310019455566855}, "target_object": {"position_m": [0.17233062993394146, 0.1860661798668308, 0.10005311039099253], "quaternion_wxyz": [0.4418735972941758, 1.6874950826455718e-07, 1.4394583597268769e-07, 0.8970773233195982], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131247601955751}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312487681600414}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312498447119675}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312510110493636}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825863688993128e-05}, "target_sequence": 12880, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 322, "source_target": [-0.4794905483722687, -1.4730842113494873, 1.9190831184387207, 1.0621799230575562, -1.0673681497573853, 0.51611328125], "source_tool_goal_m": [-0.09758854205638029, -0.2252885542335762, 0.023719497644364068], "target_tool_goal_m": [0.1756661016343613, 0.1828664079696786, 0.09953402399390265], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12880, "api_command_sequence": 322, "api_accepted_sequence": 322, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7065512558474409, "joint2": 1.6970162822238681, "joint3": 1.3378728636799906, "joint4": -1.2429273186371732, "joint5": -0.13882478028722925, "joint6": 0.048465602322498684, "gripper": 0.02766662109375}, "target_simulation_time": 25.839999999996557, "target_positions": {"joint1": 0.7093243084397961, "joint2": 1.695330539792228, "joint3": 1.3380750022550092, "joint4": -1.244235010396068, "joint5": -0.140718792895315, "joint6": 0.04893013270456943, "gripper": 0.02405805759910123}, "target_object": {"position_m": [0.17233062298185883, 0.18606617810482454, 0.10005311248125073], "quaternion_wxyz": [0.4418735972941838, 3.210762301067572e-08, 2.74666483661969e-08, 0.8970773233196213], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249543437248}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312497648781356}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124997094537}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250192391069}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825654663172864e-05}, "target_sequence": 12920, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 323, "source_target": [-0.48162004351615906, -1.4741275310516357, 1.9185832738876343, 1.0635066032409668, -1.0690994262695312, 0.556445300579071], "source_tool_goal_m": [-0.0979724592502127, -0.22507435838377254, 0.023953395686644383], "target_tool_goal_m": [0.17571432146482804, 0.18329581170098616, 0.09976792203618297], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12920, "api_command_sequence": 323, "api_accepted_sequence": 323, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7073198388384522, "joint2": 1.6966389574689171, "joint3": 1.3386576066473164, "joint4": -1.2424041461896278, "joint5": -0.13938230716110422, "joint6": 0.04859278883028887, "gripper": 0.029828647798470092}, "target_simulation_time": 25.919999999996513, "target_positions": {"joint1": 0.7093083115046321, "joint2": 1.6953205219420775, "joint3": 1.3381283848024028, "joint4": -1.2442106116602554, "joint5": -0.14119621464222676, "joint6": 0.049179551057187354, "gripper": 0.024293811098826466}, "target_object": {"position_m": [0.17233062165798138, 0.1860661777672975, 0.10005311287935416], "quaternion_wxyz": [0.44187359729418424, 6.109075377299394e-09, 5.240950412870502e-09, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499130755566}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499551216544}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249994564549}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500366108254}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825614852830342e-05}, "target_sequence": 12960, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 324, "source_target": [-0.4797607362270355, -1.4766607284545898, 1.9176713228225708, 1.0637736320495605, -1.0697474479675293, 0.585156261920929], "source_tool_goal_m": [-0.0978160254149616, -0.22559595753469763, 0.024515723542921933], "target_tool_goal_m": [0.17530100020659095, 0.18295575517270946, 0.10033024989246052], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 12960, "api_command_sequence": 324, "api_accepted_sequence": 324, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7093083115046321, "joint2": 1.6953205219420775, "joint3": 1.3381283848024028, "joint4": -1.2442106116602554, "joint5": -0.14119621464222676, "joint6": 0.049179551057187354, "gripper": 0.031367719389029915}, "target_simulation_time": 25.99999999999647, "target_positions": {"joint1": 0.7093847233496038, "joint2": 1.6952546976778529, "joint3": 1.3382088896751254, "joint4": -1.2442419398551448, "joint5": -0.14204525908340476, "joint6": 0.04951442596278303, "gripper": 0.024577900146997032}, "target_object": {"position_m": [0.1723306214058761, 0.18606617770264422, 0.10005311295517565], "quaternion_wxyz": [0.44187359729418424, 1.1623701707935025e-09, 1.000028149861149e-09, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249983450565}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249991434027}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499989834526}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500069669144}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825607270681544e-05}, "target_sequence": 13000, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 325, "source_target": [-0.48106610774993896, -1.4752931594848633, 1.923073172569275, 1.0602926015853882, -1.069178819656372, 0.615234375], "source_tool_goal_m": [-0.09772379995097707, -0.2248428003540553, 0.02358518172350374], "target_tool_goal_m": [0.17601872507960067, 0.18315844111756346, 0.09939970807304233], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13000, "api_command_sequence": 325, "api_accepted_sequence": 325, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7059094164840899, "joint2": 1.6977885164519388, "joint3": 1.3383397847572054, "joint4": -1.2415985259805793, "joint5": -0.13965692050997588, "joint6": 0.048906361049919585, "gripper": 0.032980078125000006}, "target_simulation_time": 26.079999999996424, "target_positions": {"joint1": 0.709389582884595, "joint2": 1.695231202149434, "joint3": 1.3382881283908572, "joint4": -1.2442066539309318, "joint5": -0.14294665803745743, "joint6": 0.04993055351747175, "gripper": 0.02486548214706775}, "target_object": {"position_m": [0.1723306213578676, 0.1860661776902605, 0.10005311296961636], "quaternion_wxyz": [0.44187359729418424, 2.2116431960289334e-10, 1.9081486146726876e-10, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249996849149}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499983649814}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499998099165}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250001325761}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605826610293e-05}, "target_sequence": 13040, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 326, "source_target": [-0.4797922372817993, -1.4735684394836426, 1.9160875082015991, 1.0645112991333008, -1.0678308010101318, 0.6343749761581421], "source_tool_goal_m": [-0.09778415680274605, -0.22552870084186957, 0.024183029077558524], "target_tool_goal_m": [0.17537407583115067, 0.18295243385279764, 0.09999755542709711], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13040, "api_command_sequence": 326, "api_accepted_sequence": 326, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7061365767675463, "joint2": 1.6956859101292194, "joint3": 1.3380860439282953, "joint4": -1.2439362054896828, "joint5": -0.14079527411637774, "joint6": 0.049362096409345094, "gripper": 0.03400612372194018}, "target_simulation_time": 26.15999999999638, "target_positions": {"joint1": 0.7094006474734159, "joint2": 1.6951022598527348, "joint3": 1.3384579877798781, "joint4": -1.244309582129596, "joint5": -0.14398385936767613, "joint6": 0.050350209537976434, "gripper": 0.02520407300986981}, "target_object": {"position_m": [0.17233062134872534, 0.1860661776878886, 0.1000531129723667], "quaternion_wxyz": [0.44187359729418424, 4.208112162084592e-11, 3.640910200348303e-11, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499994001145}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499996879356}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999996448}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000252301}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560555157613e-05}, "target_sequence": 13080, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 327, "source_target": [-0.48282548785209656, -1.47268807888031, 1.9154103994369507, 1.0605475902557373, -1.0677051544189453, 0.6480468511581421], "source_tool_goal_m": [-0.09863406094476361, -0.22581051624930504, 0.02416823637271165], "target_tool_goal_m": [0.17479558125718375, 0.18361567573989862, 0.09998276272225023], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13080, "api_command_sequence": 327, "api_accepted_sequence": 327, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7094006474734159, "joint2": 1.6951022598527348, "joint3": 1.3384579877798781, "joint4": -1.244309582129596, "joint5": -0.14398385936767613, "joint6": 0.050350209537976434, "gripper": 0.03473901434694018}, "target_simulation_time": 26.239999999996336, "target_positions": {"joint1": 0.7097182299966104, "joint2": 1.6948263752860153, "joint3": 1.3387051692249312, "joint4": -1.2444609618143387, "joint5": -0.1451605478899839, "joint6": 0.05082940799023848, "gripper": 0.025971138496506153}, "target_object": {"position_m": [0.17233062134698435, 0.18606617768743425, 0.10005311297289053], "quaternion_wxyz": [0.44187359729418424, 8.006839455791495e-12, 6.947130582995116e-12, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999885785}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999404343}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999993357}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000048008}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605499193033e-05}, "target_sequence": 13120, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 328, "source_target": [-0.4810706079006195, -1.4732822179794312, 1.9194401502609253, 1.0598323345184326, -1.0686066150665283, 0.686328113079071], "source_tool_goal_m": [-0.09801212016296453, -0.22539555886111579, 0.023732519088450685], "target_tool_goal_m": [0.17540810669492696, 0.18320967032230698, 0.09954704543798927], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13120, "api_command_sequence": 328, "api_accepted_sequence": 328, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7056953609119567, "joint2": 1.6972815169030813, "joint3": 1.3377873968622727, "joint4": -1.2428448828225733, "joint5": -0.1423509810317888, "joint6": 0.05010045577029877, "gripper": 0.03679110873597009}, "target_simulation_time": 26.31999999999629, "target_positions": {"joint1": 0.7097894048967233, "joint2": 1.694734286783796, "joint3": 1.3389123808302728, "joint4": -1.2445247944769935, "joint5": -0.14644596604777904, "joint6": 0.05137189390565523, "gripper": 0.026553128495276856}, "target_object": {"position_m": [0.17233062134665272, 0.18606617768734718, 0.1000531129729903], "quaternion_wxyz": [0.44187359729418424, 1.5234825641032182e-12, 1.3255577041311419e-12, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999978236}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999886104}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999998742}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000009117}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605489216291e-05}, "target_sequence": 13160, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 329, "source_target": [-0.4808737635612488, -1.4725760221481323, 1.9194754362106323, 1.0615065097808838, -1.0687471628189087, 0.699999988079071], "source_tool_goal_m": [-0.09782518772921252, -0.2251239548999487, 0.023585261130177254], "target_tool_goal_m": [0.17572534555939817, 0.18314347132481681, 0.09939978747971584], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13160, "api_command_sequence": 329, "api_accepted_sequence": 329, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7044124110496314, "joint2": 1.6979136935251615, "joint3": 1.3378927267820253, "joint4": -1.2422802354017346, "joint5": -0.14270938324328206, "joint6": 0.05040349401515684, "gripper": 0.03752399936097009}, "target_simulation_time": 26.399999999996247, "target_positions": {"joint1": 0.7097705886005805, "joint2": 1.6946939526752915, "joint3": 1.3390108618781684, "joint4": -1.2444907731518209, "joint5": -0.1476967702089713, "joint6": 0.05190508398997396, "gripper": 0.026920112555079992}, "target_object": {"position_m": [0.17233062134658955, 0.18606617768733047, 0.10005311297300928], "quaternion_wxyz": [0.44187359729418424, 2.8988066493684925e-13, 2.529239189071958e-13, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999958525}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999978225}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999766}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000001722}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.82560548731781e-05}, "target_sequence": 13200, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 330, "source_target": [-0.48027679324150085, -1.4728944301605225, 1.920170545578003, 1.061379313468933, -1.0685139894485474, 0.699999988079071], "source_tool_goal_m": [-0.09767491065441432, -0.2251010407068476, 0.02354819324176355], "target_tool_goal_m": [0.17580323653246785, 0.18301596848625515, 0.09936271959130213], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13200, "api_command_sequence": 330, "api_accepted_sequence": 330, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7034043597054546, "joint2": 1.6980201398177723, "joint3": 1.3377379389984536, "joint4": -1.2423295664922311, "joint5": -0.14329225663631082, "joint6": 0.050758865969441375, "gripper": 0.03752399936097009}, "target_simulation_time": 26.479999999996203, "target_positions": {"joint1": 0.7097120123475051, "joint2": 1.6946631809715638, "joint3": 1.3390939773468726, "joint4": -1.2444567352655345, "joint5": -0.14882911116627123, "joint6": 0.05238802995041005, "gripper": 0.02721319661198578}, "target_object": {"position_m": [0.17233062134657753, 0.18606617768732728, 0.1000531129730129], "quaternion_wxyz": [0.44187359729418424, 5.515677669464838e-14, 4.825877939360104e-14, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999992144}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999583}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999555}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000335}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486955599e-05}, "target_sequence": 13240, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 331, "source_target": [-0.48219919204711914, -1.4716168642044067, 1.9171277284622192, 1.0605608224868774, -1.06797456741333, 0.699999988079071], "source_tool_goal_m": [-0.09831010522135385, -0.225468349175733, 0.023747104657547646], "target_tool_goal_m": [0.17522886271010843, 0.18345209894082565, 0.09956163100708623], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13240, "api_command_sequence": 331, "api_accepted_sequence": 331, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7047263966650523, "joint2": 1.6975297818864612, "joint3": 1.3377324925735894, "joint4": -1.2428334915676476, "joint5": -0.14533949369804114, "joint6": 0.05147939826599484, "gripper": 0.03752399936097009}, "target_simulation_time": 26.55999999999616, "target_positions": {"joint1": 0.7096858568188009, "joint2": 1.694625552788426, "joint3": 1.339174458317549, "joint4": -1.2444330311324001, "joint5": -0.1499833839328107, "joint6": 0.05286710926906437, "gripper": 0.027495432092584118}, "target_object": {"position_m": [0.17233062134657523, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.0494304388970492e-14, 9.20674160277793e-15, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999998514}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999215}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999992}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000617}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13280, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 332, "source_target": [-0.4814521372318268, -1.4721827507019043, 1.9192912578582764, 1.0620386600494385, -1.0679500102996826, 0.699999988079071], "source_tool_goal_m": [-0.09789201249907609, -0.22499941683915695, 0.023535836981115638], "target_tool_goal_m": [0.17581282759084182, 0.18325137972297748, 0.09935036333065422], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13280, "api_command_sequence": 332, "api_accepted_sequence": 332, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.702729785447887, "joint2": 1.6983302245217236, "joint3": 1.3378810720046754, "joint4": -1.2419150480539034, "joint5": -0.14517178831149885, "joint6": 0.05161700400177536, "gripper": 0.03752399936097009}, "target_simulation_time": 26.639999999996114, "target_positions": {"joint1": 0.7096010574016515, "joint2": 1.6946118788361024, "joint3": 1.3392422188533601, "joint4": -1.2443965578556357, "joint5": -0.15098052411632645, "joint6": 0.05331078144085433, "gripper": 0.02771704448253261}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.9945117164322375e-15, 1.7569848617443688e-15, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613124999999998}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999964}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000096}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000027}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13320, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 333, "source_target": [-0.4807044565677643, -1.4733312129974365, 1.9178636074066162, 1.0615956783294678, -1.0674679279327393, 0.699999988079071], "source_tool_goal_m": [-0.09797408017849525, -0.22548976703383727, 0.023934601109151937], "target_tool_goal_m": [0.17533717469568927, 0.18313938133957508, 0.09974912745869052], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13320, "api_command_sequence": 333, "api_accepted_sequence": 333, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7027936926831676, "joint2": 1.696942141111449, "joint3": 1.337660961378231, "joint4": -1.2435061502198617, "joint5": -0.14632456153452056, "joint6": 0.052085026908031434, "gripper": 0.03752399936097009}, "target_simulation_time": 26.71999999999607, "target_positions": {"joint1": 0.7095034165360559, "joint2": 1.6945666939569606, "joint3": 1.3393160041007803, "joint4": -1.2444032230129942, "joint5": -0.15191606026076607, "joint6": 0.053676153335528096, "gripper": 0.027915945865845993}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 3.77703727777615e-16, 3.3445263137252317e-16, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312499999999936}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000004}, {"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": -6.825605486884823e-05}, "target_sequence": 13360, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 334, "source_target": [-0.4803713858127594, -1.4728071689605713, 1.9176734685897827, 1.0650012493133545, -1.0682941675186157, 0.699999988079071], "source_tool_goal_m": [-0.09767126798531628, -0.22505307069954925, 0.023829907242211082], "target_tool_goal_m": [0.17584810163978523, 0.18303090045220627, 0.09964443359174967], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13360, "api_command_sequence": 334, "api_accepted_sequence": 334, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7011896179728416, "joint2": 1.697475028727407, "joint3": 1.3379790547202481, "joint4": -1.2427176768966874, "joint5": -0.14626683901930193, "joint6": 0.052195061378520896, "gripper": 0.03752399936097009}, "target_simulation_time": 26.799999999996025, "target_positions": {"joint1": 0.708859856215953, "joint2": 1.694529295284033, "joint3": 1.3393897548753457, "joint4": -1.2444194571239806, "joint5": -0.1528085292049922, "joint6": 0.0540393962408343, "gripper": 0.028001286059439356}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 7.62026911479963e-17, 6.458445231849275e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000054}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999997}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13400, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 335, "source_target": [-0.4803318977355957, -1.473376750946045, 1.9131275415420532, 1.067899465560913, -1.0648994445800781, 0.699999988079071], "source_tool_goal_m": [-0.09791523830895256, -0.22555300171456744, 0.024512927060559547], "target_tool_goal_m": [0.1753022243206644, 0.18306201054579213, 0.10032745341009813], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13400, "api_command_sequence": 335, "api_accepted_sequence": 335, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7015156331555679, "joint2": 1.695396493188383, "joint3": 1.338211722720827, "joint4": -1.244620333238982, "joint5": -0.1479180289341222, "joint6": 0.0527393198776513, "gripper": 0.03752399936097009}, "target_simulation_time": 26.87999999999598, "target_positions": {"joint1": 0.7080817803517656, "joint2": 1.6943588735950998, "joint3": 1.3394808044261002, "joint4": -1.244525559382945, "joint5": -0.15367171118829004, "joint6": 0.05435344672349404, "gripper": 0.028082564401129988}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 2.216362692658155e-17, 1.9411627778196387e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13440, "shadow_success": false, "shadow_done": false, "ik_error": null}
{"tick": 336, "source_target": [-0.47931602597236633, -1.4743211269378662, 1.913760781288147, 1.0687793493270874, -1.069297194480896, 0.699999988079071], "source_tool_goal_m": [-0.0976527347377383, -0.2254815118779438, 0.024580729522464595], "target_tool_goal_m": [0.17546680278997462, 0.1828512483893437, 0.10039525587200318], "open_jaw_clearance_m": 0.0, "api_observation_sequence": 13440, "api_command_sequence": 336, "api_accepted_sequence": 336, "api_setpoint_semantics": "Rate-limited target; acceptance does not mean target reached", "target_joint_target": {"joint1": 0.7001297124745974, "joint2": 1.6952058002302504, "joint3": 1.3382086061915444, "joint4": -1.2448315006730133, "joint5": -0.1483821519097303, "joint6": 0.05294629572043481, "gripper": 0.03752399936097009}, "target_simulation_time": 26.959999999995937, "target_positions": {"joint1": 0.7070461849103571, "joint2": 1.694123317627149, "joint3": 1.3395835111282208, "joint4": -1.244666081718266, "joint5": -0.15436627926486546, "joint6": 0.05458176777094181, "gripper": 0.028461102493764604}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.4923962269241125e-17, 1.9193111602137414e-17, 0.8970773233196216], "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": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13480, "shadow_success": true, "shadow_done": true, "ik_error": null}
{"tick": 337, "phase": "settle_after_policy", "target_simulation_time": 27.039999999995892, "target_positions": {"joint1": 0.7060630129608636, "joint2": 1.6939413676554411, "joint3": 1.3396809230244247, "joint4": -1.2447891256372041, "joint5": -0.15490638384615163, "joint6": 0.05475814514785273, "gripper": 0.028902405614915274}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 9.466041027417088e-18, 1.7067514314956314e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13520}
{"tick": 338, "phase": "settle_after_policy", "target_simulation_time": 27.119999999995848, "target_positions": {"joint1": 0.7057450148642206, "joint2": 1.693861819787503, "joint3": 1.3397494468028084, "joint4": -1.244872774900751, "joint5": -0.1553448708807846, "joint6": 0.05488007662893044, "gripper": 0.029138692045822097}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.0252136424411176e-17, 2.235056410031292e-17, 0.8970773233196216], "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": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13560}
{"tick": 339, "phase": "settle_after_policy", "target_simulation_time": 27.199999999995804, "target_positions": {"joint1": 0.705653283834582, "joint2": 1.693802102467985, "joint3": 1.339808061710971, "joint4": -1.2449427472013526, "joint5": -0.15568833752272745, "joint6": 0.054952130790577605, "gripper": 0.0293323618463726}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 9.836587758274926e-18, 2.1692116245193827e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13600}
{"tick": 340, "phase": "settle_after_policy", "target_simulation_time": 27.27999999999576, "target_positions": {"joint1": 0.7055660627787567, "joint2": 1.6937465521627393, "joint3": 1.3398612245419212, "joint4": -1.2450085080526012, "joint5": -0.15596219066810807, "joint6": 0.05500137773329526, "gripper": 0.029502014613261244}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.0801789729219619e-17, 2.2949420885979104e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"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": -6.825605486884823e-05}, "target_sequence": 13640}
{"tick": 341, "phase": "settle_after_policy", "target_simulation_time": 27.359999999995715, "target_positions": {"joint1": 0.7054804081189409, "joint2": 1.693695257059759, "joint3": 1.33990879806951, "joint4": -1.2450696047124143, "joint5": -0.15617203710701386, "joint6": 0.055031373292632746, "gripper": 0.029652075782677798}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.1145746690574247e-17, 1.7604405642358056e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13680}
{"tick": 342, "phase": "settle_after_policy", "target_simulation_time": 27.43999999999567, "target_positions": {"joint1": 0.7054409741164854, "joint2": 1.6936637606340088, "joint3": 1.3399384006088242, "joint4": -1.2451005695332182, "joint5": -0.156324834061869, "joint6": 0.055067046481768724, "gripper": 0.02962073321950408}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.116392223579744e-17, 2.2488454141928658e-17, 0.8970773233196216], "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": -6.825605486884823e-05}, "target_sequence": 13720}
{"tick": 343, "phase": "settle_after_policy", "target_simulation_time": 27.519999999995626, "target_positions": {"joint1": 0.7054489053354602, "joint2": 1.693656425277611, "joint3": 1.3399464781082446, "joint4": -1.2451041657119077, "joint5": -0.15640201068893622, "joint6": 0.055096777558489705, "gripper": 0.029564480169997513}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.2010567529906225e-17, 2.1774563441722306e-17, 0.8970773233196216], "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": -6.825605486884823e-05}, "target_sequence": 13760}
{"tick": 344, "phase": "settle_after_policy", "target_simulation_time": 27.599999999995582, "target_positions": {"joint1": 0.7054539188912338, "joint2": 1.6936526320193674, "joint3": 1.3399504818712675, "joint4": -1.2451066172053957, "joint5": -0.15643361092887834, "joint6": 0.05510551367200669, "gripper": 0.029551625985187104}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 3.387299224701013e-18, 3.22214686913518e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"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": -6.825605486884823e-05}, "target_sequence": 13800}
{"tick": 345, "phase": "settle_after_policy", "target_simulation_time": 27.679999999995538, "target_positions": {"joint1": 0.7054572286528935, "joint2": 1.6936503732415829, "joint3": 1.339952700909691, "joint4": -1.2451086160121576, "joint5": -0.15644491687609863, "joint6": 0.05510607745417555, "gripper": 0.02954711056648075}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 6.545327469961144e-18, 2.2225783066876563e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000034}, {"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": -6.825605486884823e-05}, "target_sequence": 13840}
{"tick": 346, "phase": "settle_after_policy", "target_simulation_time": 27.759999999995493, "target_positions": {"joint1": 0.7054597795412146, "joint2": 1.6936487712783501, "joint3": 1.3399541535383805, "joint4": -1.2451103201495772, "joint5": -0.15644800755937602, "joint6": 0.05510394326591885, "gripper": 0.029545775518534503}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 7.368960897148334e-18, 2.225665178151751e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.061312500000000006}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13880}
{"tick": 347, "phase": "settle_after_policy", "target_simulation_time": 27.83999999999545, "target_positions": {"joint1": 0.7054619386185921, "joint2": 1.6936474900265608, "joint3": 1.3399552362136522, "joint4": -1.2451117590774332, "joint5": -0.15644755684613373, "joint6": 0.05510108783842284, "gripper": 0.02954568735199895}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 7.992810299335556e-18, 2.5603326022924815e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"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": -6.825605486884823e-05}, "target_sequence": 13920}
{"tick": 348, "phase": "settle_after_policy", "target_simulation_time": 27.919999999995404, "target_positions": {"joint1": 0.7054638542296351, "joint2": 1.6936463955460264, "joint3": 1.3399561092060022, "joint4": -1.2451129514813175, "joint5": -0.15644544708841973, "joint6": 0.05509820834166142, "gripper": 0.02954611214180296}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.05402373928834e-17, 2.630713568629336e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000002}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.0613125}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 13960}
{"tick": 349, "phase": "settle_after_policy", "target_simulation_time": 27.99999999999536, "target_positions": {"joint1": 0.7054655916676389, "joint2": 1.6936454303033508, "joint3": 1.3399568421836097, "joint4": -1.2451139212767146, "joint5": -0.15644249032852217, "joint6": 0.05509553289678664, "gripper": 0.029546767253278587}, "target_object": {"position_m": [0.17233062134657492, 0.18606617768732672, 0.10005311297301361], "quaternion_wxyz": [0.44187359729418424, 1.0636397375940753e-17, 2.1078787463137416e-17, 0.8970773233196216], "contacts": [{"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131250000000003}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}, {"geom": "drop_pedestal", "body": "world", "normal_force_n": 0.06131249999999999}], "left_finger_force_n": 0, "right_finger_force_n": 0, "bilateral_contact": false, "supported": true, "lift_m": -6.825605486884823e-05}, "target_sequence": 14000}
