diff --git a/StorageFurniture/46466/partnet_mobility/mobility_v2.json b/StorageFurniture/46466/partnet_mobility/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..45a812b3b36a0b77a25a034f0ae0506474f3e5f8 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/mobility_v2.json @@ -0,0 +1 @@ +[{"id":0,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":37,"name":"drawer_front","children":[]},{"id":38,"name":"drawer_side","children":[]},{"id":39,"name":"drawer_side","children":[]},{"id":40,"name":"drawer_back","children":[]},{"id":41,"name":"drawer_bottom","children":[]},{"id":43,"name":"other_leaf","children":[]},{"id":36,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.55,"noLimit":false}}},{"id":1,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":28,"name":"drawer_front","children":[]},{"id":29,"name":"drawer_side","children":[]},{"id":30,"name":"drawer_side","children":[]},{"id":31,"name":"drawer_back","children":[]},{"id":32,"name":"drawer_bottom","children":[]},{"id":34,"name":"other_leaf","children":[]},{"id":27,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.55,"noLimit":false}}},{"id":2,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":19,"name":"drawer_front","children":[]},{"id":20,"name":"drawer_side","children":[]},{"id":21,"name":"drawer_side","children":[]},{"id":22,"name":"drawer_back","children":[]},{"id":23,"name":"drawer_bottom","children":[]},{"id":25,"name":"other_leaf","children":[]},{"id":18,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.55,"noLimit":false}}},{"id":3,"parent":4,"joint":"slider","name":"drawer","parts":[{"id":10,"name":"drawer_front","children":[]},{"id":11,"name":"drawer_side","children":[]},{"id":12,"name":"drawer_side","children":[]},{"id":13,"name":"drawer_back","children":[]},{"id":14,"name":"drawer_bottom","children":[]},{"id":16,"name":"other_leaf","children":[]},{"id":9,"name":"handle","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.55,"noLimit":false}}},{"id":4,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":54,"name":"frame_vertical_bar","children":[]},{"id":55,"name":"frame_vertical_bar","children":[]},{"id":56,"name":"frame_horizontal_bar","children":[]},{"id":57,"name":"frame_horizontal_bar","children":[]},{"id":58,"name":"frame_horizontal_bar","children":[]},{"id":59,"name":"frame_horizontal_bar","children":[]},{"id":60,"name":"frame_horizontal_bar","children":[]},{"id":61,"name":"frame_horizontal_bar","children":[]},{"id":62,"name":"vertical_side_panel","children":[]},{"id":63,"name":"vertical_side_panel","children":[]},{"id":64,"name":"back_panel","children":[]},{"id":65,"name":"bottom_panel","children":[]},{"id":66,"name":"frame_horizontal_bar","children":[]},{"id":67,"name":"frame_horizontal_bar","children":[]},{"id":69,"name":"other_leaf","children":[]},{"id":45,"name":"base_side_panel","children":[]},{"id":46,"name":"base_side_panel","children":[]},{"id":47,"name":"base_side_panel","children":[]},{"id":48,"name":"base_side_panel","children":[]}],"jointData":{}}] \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/1.txt b/StorageFurniture/46466/partnet_mobility/parts_render/1.txt new file mode 100644 index 0000000000000000000000000000000000000000..2758ee5746b968caf0112b343185aee363f0d38e --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/1.txt @@ -0,0 +1 @@ +1 cabinet Cabinet \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/10.txt b/StorageFurniture/46466/partnet_mobility/parts_render/10.txt new file mode 100644 index 0000000000000000000000000000000000000000..31789564723aadf979124f85394e9bb42edef737 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/10.txt @@ -0,0 +1 @@ +10 drawer_front Drawer front \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/13.txt b/StorageFurniture/46466/partnet_mobility/parts_render/13.txt new file mode 100644 index 0000000000000000000000000000000000000000..1489010db0570e5118d5e1a0209bf4bd5bcd4252 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/13.txt @@ -0,0 +1 @@ +13 drawer_back Drawer back \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/15.txt b/StorageFurniture/46466/partnet_mobility/parts_render/15.txt new file mode 100644 index 0000000000000000000000000000000000000000..00745e17017716c07218d028de57d1f687804a7d --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/15.txt @@ -0,0 +1 @@ +15 other rectangle (other) \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/16.txt b/StorageFurniture/46466/partnet_mobility/parts_render/16.txt new file mode 100644 index 0000000000000000000000000000000000000000..03e6f6d1a5523058a7e0c74d13e0e1fcd9eba9af --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/16.txt @@ -0,0 +1 @@ +16 other_leaf other_leaf \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/17.txt b/StorageFurniture/46466/partnet_mobility/parts_render/17.txt new file mode 100644 index 0000000000000000000000000000000000000000..3a183b907deccdcb34139e6b95cb396c7f226694 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/17.txt @@ -0,0 +1 @@ +17 drawer_box Drawer box \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/18.txt b/StorageFurniture/46466/partnet_mobility/parts_render/18.txt new file mode 100644 index 0000000000000000000000000000000000000000..7dbc3da6a225e6d4e716265327cb212f471bb201 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/18.txt @@ -0,0 +1 @@ +18 handle Handle \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/19.txt b/StorageFurniture/46466/partnet_mobility/parts_render/19.txt new file mode 100644 index 0000000000000000000000000000000000000000..250d9e479469d5b727190b09cf8fd99de9eb1b81 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/19.txt @@ -0,0 +1 @@ +19 drawer_front Drawer front \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/2.txt b/StorageFurniture/46466/partnet_mobility/parts_render/2.txt new file mode 100644 index 0000000000000000000000000000000000000000..36d4acf4574adb3e41641dc80a870c7d4176e32d --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/2.txt @@ -0,0 +1 @@ +2 cabinet_frame Cabinet frame \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/20.txt b/StorageFurniture/46466/partnet_mobility/parts_render/20.txt new file mode 100644 index 0000000000000000000000000000000000000000..3618d2113b153ada00079521aac5fffaf8d27d10 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/20.txt @@ -0,0 +1 @@ +20 drawer_side Drawer side \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/21.txt b/StorageFurniture/46466/partnet_mobility/parts_render/21.txt new file mode 100644 index 0000000000000000000000000000000000000000..fdb93d7a9df3cb41d45aa11212e2cd9c7ac96683 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/21.txt @@ -0,0 +1 @@ +21 drawer_side Drawer side \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/22.txt b/StorageFurniture/46466/partnet_mobility/parts_render/22.txt new file mode 100644 index 0000000000000000000000000000000000000000..3b9b06cd260f447915fe2fc3094130ad945ec57b --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/22.txt @@ -0,0 +1 @@ +22 drawer_back Drawer back \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/23.txt b/StorageFurniture/46466/partnet_mobility/parts_render/23.txt new file mode 100644 index 0000000000000000000000000000000000000000..7610fa434e8d40f2b5a2333ced3488e2bb6f1f65 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/23.txt @@ -0,0 +1 @@ +23 drawer_bottom Drawer bottom \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/24.txt b/StorageFurniture/46466/partnet_mobility/parts_render/24.txt new file mode 100644 index 0000000000000000000000000000000000000000..7d76840330a0f129d5f0a8f810a49807451f9c34 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/24.txt @@ -0,0 +1 @@ +24 other rectangle (other) \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/25.txt b/StorageFurniture/46466/partnet_mobility/parts_render/25.txt new file mode 100644 index 0000000000000000000000000000000000000000..0b49dfef0b5ed6046ba3abc407e5905580df06f3 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/25.txt @@ -0,0 +1 @@ +25 other_leaf other_leaf \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/27.txt b/StorageFurniture/46466/partnet_mobility/parts_render/27.txt new file mode 100644 index 0000000000000000000000000000000000000000..fd6733f043ebaf72b84501b54173b5f01bb24ac5 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/27.txt @@ -0,0 +1 @@ +27 handle Handle \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/28.txt b/StorageFurniture/46466/partnet_mobility/parts_render/28.txt new file mode 100644 index 0000000000000000000000000000000000000000..3a38b1f02a36fb58e3637c8fa43d5b67bbefbd95 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/28.txt @@ -0,0 +1 @@ +28 drawer_front Drawer front \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/29.txt b/StorageFurniture/46466/partnet_mobility/parts_render/29.txt new file mode 100644 index 0000000000000000000000000000000000000000..5a629a7ae4ed4003f6ba02cbbe975970969c41f1 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/29.txt @@ -0,0 +1 @@ +29 drawer_side Drawer side \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/3.txt b/StorageFurniture/46466/partnet_mobility/parts_render/3.txt new file mode 100644 index 0000000000000000000000000000000000000000..c7788a1d00aa316aaf1af34989e786efcc9e41a1 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/3.txt @@ -0,0 +1 @@ +3 cabinet_base Cabinet Base \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/30.txt b/StorageFurniture/46466/partnet_mobility/parts_render/30.txt new file mode 100644 index 0000000000000000000000000000000000000000..ad749f3456270bb4d464aebe68864e06b9bfa7b9 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/30.txt @@ -0,0 +1 @@ +30 drawer_side Drawer side \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/31.txt b/StorageFurniture/46466/partnet_mobility/parts_render/31.txt new file mode 100644 index 0000000000000000000000000000000000000000..db3035f4155c7b7e711239a075ee8323e531dd3c --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/31.txt @@ -0,0 +1 @@ +31 drawer_back Drawer back \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/32.txt b/StorageFurniture/46466/partnet_mobility/parts_render/32.txt new file mode 100644 index 0000000000000000000000000000000000000000..900993740584180e2c73fc72cfba372580a5cbac --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/32.txt @@ -0,0 +1 @@ +32 drawer_bottom Drawer bottom \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/33.txt b/StorageFurniture/46466/partnet_mobility/parts_render/33.txt new file mode 100644 index 0000000000000000000000000000000000000000..bbb1f4fdbb8177f12bff1021e697b63d795b1d83 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/33.txt @@ -0,0 +1 @@ +33 other rectangle (other) \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/34.txt b/StorageFurniture/46466/partnet_mobility/parts_render/34.txt new file mode 100644 index 0000000000000000000000000000000000000000..910160a94c811e72fe053585e04d88f08b0bcd4d --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/34.txt @@ -0,0 +1 @@ +34 other_leaf other_leaf \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/35.txt b/StorageFurniture/46466/partnet_mobility/parts_render/35.txt new file mode 100644 index 0000000000000000000000000000000000000000..3d6449a96e10c141add65e539b46a0aab5eb7c01 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/35.txt @@ -0,0 +1 @@ +35 drawer_box Drawer box \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/36.txt b/StorageFurniture/46466/partnet_mobility/parts_render/36.txt new file mode 100644 index 0000000000000000000000000000000000000000..c6a6a41819f499b9bf75b49653fb4d8cabf977e7 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/36.txt @@ -0,0 +1 @@ +36 handle Handle \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/37.txt b/StorageFurniture/46466/partnet_mobility/parts_render/37.txt new file mode 100644 index 0000000000000000000000000000000000000000..09e7f3d4b4d6029d22ae9c272f8224037ede4ce0 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/37.txt @@ -0,0 +1 @@ +37 drawer_front Drawer front \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/38.txt b/StorageFurniture/46466/partnet_mobility/parts_render/38.txt new file mode 100644 index 0000000000000000000000000000000000000000..25f3a6d3c0bf3415120ad0f42da620285aa94f34 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/38.txt @@ -0,0 +1 @@ +38 drawer_side Drawer side \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/39.txt b/StorageFurniture/46466/partnet_mobility/parts_render/39.txt new file mode 100644 index 0000000000000000000000000000000000000000..b80d1ee4f63c13cc96b94c15a1aa90927dc113d2 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/39.txt @@ -0,0 +1 @@ +39 drawer_side Drawer side \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/4.txt b/StorageFurniture/46466/partnet_mobility/parts_render/4.txt new file mode 100644 index 0000000000000000000000000000000000000000..925a0b1d7affdda6d15deaf1b069077e26dd1339 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/4.txt @@ -0,0 +1 @@ +4 drawer Drawer \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/40.txt b/StorageFurniture/46466/partnet_mobility/parts_render/40.txt new file mode 100644 index 0000000000000000000000000000000000000000..7068b34ecec727339fab94cd82573772f8b457f2 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/40.txt @@ -0,0 +1 @@ +40 drawer_back Drawer back \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/41.txt b/StorageFurniture/46466/partnet_mobility/parts_render/41.txt new file mode 100644 index 0000000000000000000000000000000000000000..a15cbe1a989125ffe5628dce8f113de40c3949d4 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/41.txt @@ -0,0 +1 @@ +41 drawer_bottom Drawer bottom \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/43.txt b/StorageFurniture/46466/partnet_mobility/parts_render/43.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d9be88f9cca9bcf6188f6d61b8ceb2235723b92 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/43.txt @@ -0,0 +1 @@ +43 other_leaf other_leaf \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/44.txt b/StorageFurniture/46466/partnet_mobility/parts_render/44.txt new file mode 100644 index 0000000000000000000000000000000000000000..1751781ddf3c3d98c6380b484230820261f97442 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/44.txt @@ -0,0 +1 @@ +44 panel_base Panel Base \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/45.txt b/StorageFurniture/46466/partnet_mobility/parts_render/45.txt new file mode 100644 index 0000000000000000000000000000000000000000..f2305fd659d9daeb09b2ce25ff07b75b932041e2 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/45.txt @@ -0,0 +1 @@ +45 base_side_panel Base side panel \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/46.txt b/StorageFurniture/46466/partnet_mobility/parts_render/46.txt new file mode 100644 index 0000000000000000000000000000000000000000..1461c145138df3f94dc8abbc9f826d44f141c27d --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/46.txt @@ -0,0 +1 @@ +46 base_side_panel Base side panel \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/47.txt b/StorageFurniture/46466/partnet_mobility/parts_render/47.txt new file mode 100644 index 0000000000000000000000000000000000000000..39a7acfed6808ccbe4d7401a27e792cb0e34f5ab --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/47.txt @@ -0,0 +1 @@ +47 base_side_panel Base side panel \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/5.txt b/StorageFurniture/46466/partnet_mobility/parts_render/5.txt new file mode 100644 index 0000000000000000000000000000000000000000..14c02ef282694cc521952f92ec7f7f2ff1e7d159 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/5.txt @@ -0,0 +1 @@ +5 drawer Drawer \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/54.txt b/StorageFurniture/46466/partnet_mobility/parts_render/54.txt new file mode 100644 index 0000000000000000000000000000000000000000..e22c13f6562c67b5aae28af96f6fb898a21fc888 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/54.txt @@ -0,0 +1 @@ +54 frame_vertical_bar Vertical support bar \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/55.txt b/StorageFurniture/46466/partnet_mobility/parts_render/55.txt new file mode 100644 index 0000000000000000000000000000000000000000..aaa5a843476a673043d96c341b0dca3d39619250 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/55.txt @@ -0,0 +1 @@ +55 frame_vertical_bar Vertical support bar \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/56.txt b/StorageFurniture/46466/partnet_mobility/parts_render/56.txt new file mode 100644 index 0000000000000000000000000000000000000000..e0849fbaa3af88b7a74c8287051d07e0ae2e05d2 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/56.txt @@ -0,0 +1 @@ +56 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/57.txt b/StorageFurniture/46466/partnet_mobility/parts_render/57.txt new file mode 100644 index 0000000000000000000000000000000000000000..6784df86bdbf8d684f1d862cb3ec1c3e8bc779b2 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/57.txt @@ -0,0 +1 @@ +57 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/59.txt b/StorageFurniture/46466/partnet_mobility/parts_render/59.txt new file mode 100644 index 0000000000000000000000000000000000000000..efcc702097cde86f113ab2f42c421342ee2d5c93 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/59.txt @@ -0,0 +1 @@ +59 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/61.txt b/StorageFurniture/46466/partnet_mobility/parts_render/61.txt new file mode 100644 index 0000000000000000000000000000000000000000..50c6ab7aeb4893305ee9fa3cc572cd44ffea103d --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/61.txt @@ -0,0 +1 @@ +61 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/62.txt b/StorageFurniture/46466/partnet_mobility/parts_render/62.txt new file mode 100644 index 0000000000000000000000000000000000000000..5db4761a79a3a59a34b1f2d4fd11d9b86070f109 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/62.txt @@ -0,0 +1 @@ +62 vertical_side_panel Vertical side panel \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/63.txt b/StorageFurniture/46466/partnet_mobility/parts_render/63.txt new file mode 100644 index 0000000000000000000000000000000000000000..0b4ae9a43f507397a7eacf9dfd9c5ca3f1378266 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/63.txt @@ -0,0 +1 @@ +63 vertical_side_panel Vertical side panel \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/64.txt b/StorageFurniture/46466/partnet_mobility/parts_render/64.txt new file mode 100644 index 0000000000000000000000000000000000000000..3b4a91f6b6e695f9bbcf6404e89e7045b779075f --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/64.txt @@ -0,0 +1 @@ +64 back_panel Back panel \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/66.txt b/StorageFurniture/46466/partnet_mobility/parts_render/66.txt new file mode 100644 index 0000000000000000000000000000000000000000..df87c3628134c8aa3f09c07f989cdf2cd63a24c5 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/66.txt @@ -0,0 +1 @@ +66 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/67.txt b/StorageFurniture/46466/partnet_mobility/parts_render/67.txt new file mode 100644 index 0000000000000000000000000000000000000000..1c9079e6597f0cd1c26c1d1098cd3cc7f3ec3397 --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/67.txt @@ -0,0 +1 @@ +67 frame_horizontal_bar Horizontal support bar \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/68.txt b/StorageFurniture/46466/partnet_mobility/parts_render/68.txt new file mode 100644 index 0000000000000000000000000000000000000000..c4995347d49c35e3de7cfb8e83c2587822e4107f --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/68.txt @@ -0,0 +1 @@ +68 other rectangle (other) \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/7.txt b/StorageFurniture/46466/partnet_mobility/parts_render/7.txt new file mode 100644 index 0000000000000000000000000000000000000000..15803a0b0164eba78c6f2909eb5ca87aa689e8bc --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/7.txt @@ -0,0 +1 @@ +7 drawer Drawer \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/8.txt b/StorageFurniture/46466/partnet_mobility/parts_render/8.txt new file mode 100644 index 0000000000000000000000000000000000000000..1bc1a534f4e45fdc5e40c9efc8e2f51473ab372b --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/8.txt @@ -0,0 +1 @@ +8 drawer_box Drawer box \ No newline at end of file diff --git a/StorageFurniture/46466/partnet_mobility/parts_render/9.txt b/StorageFurniture/46466/partnet_mobility/parts_render/9.txt new file mode 100644 index 0000000000000000000000000000000000000000..b3acf8b7fd3adeda0ae6c9acb49d02586eb705ca --- /dev/null +++ b/StorageFurniture/46466/partnet_mobility/parts_render/9.txt @@ -0,0 +1 @@ +9 handle Handle \ No newline at end of file diff --git a/StorageFurniture/46490/hoi_trajectories/handle_2/trajectory.json b/StorageFurniture/46490/hoi_trajectories/handle_2/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..c6d483be08e5049e7152d13fb0e2c7e84e0c7ce5 --- /dev/null +++ b/StorageFurniture/46490/hoi_trajectories/handle_2/trajectory.json @@ -0,0 +1,21206 @@ +[ + { + "phase": "approach", + "step": 0, + "virtual_xyz": [ + 0.13107044994831085, + 0.02758019231259823, + 0.6945821642875671 + ], + "wrist_rpy": [ + -1.5700955390930176, + -0.015473790466785431, + 1.5764895677566528 + ], + "finger_dofs": [ + 0.006799732334911823, + 0.0017631672089919448, + 0.016331853345036507, + 0.005354391876608133, + -0.0018167803063988686, + 0.0019138711504638195, + 0.0004811679245904088, + -0.001473864889703691, + -3.5270193620817736e-05, + 0.006026932504028082, + -0.0007516509504057467, + 0.013077039271593094, + 0.011452085338532925, + -0.0018489527283236384, + 0.0019376181298866868, + 0.00039928211481310427, + -0.0011970964260399342, + -0.0003151231212541461, + 0.012798543088138103, + -0.0019055717857554555, + 0.01691362075507641, + 0.0019394457340240479, + -0.0018300771480426192, + 0.0019623360130935907, + 0.0011586743639782071, + 0.00039452683995477855, + -0.00017780158668756485, + 0.006875411607325077, + 0.0017073730705305934, + 0.014270706102252007, + 0.012205309234559536, + 0.0005792492884211242, + 0.001948466757312417, + 0.0002434269990772009, + 0.0002859554369933903, + -0.00014646000636275858, + 0.008364400826394558, + -0.0032862320076674223, + 0.008762065321207047, + -0.0017710080137476325, + -0.001942038768902421, + 0.01730792038142681, + -0.0014603972667828202, + -0.0014611060032621026, + -0.0025268164463341236 + ], + "wrist_pos": [ + 0.1310705542564392, + 0.027580182999372482, + 0.6945821046829224 + ], + "wrist_rot": [ + -0.5022656917572021, + 0.4973718225955963, + 0.5054378509521484, + 0.49485647678375244 + ], + "joint_positions": [ + 5.520187418284195e-09, + 7.906169940952168e-09 + ] + }, + { + "phase": "approach", + "step": 1, + "virtual_xyz": [ + 0.13132353127002716, + 0.027559509500861168, + 0.6940661072731018 + ], + "wrist_rpy": [ + -1.570527195930481, + -0.0066443257965147495, + 1.5733507871627808 + ], + "finger_dofs": [ + 0.0027702644001692533, + 0.0005037432420067489, + 0.004587188828736544, + 0.002208244986832142, + -0.0005020084790885448, + 0.0005251134280115366, + 0.00032156091765500605, + -0.00044144605635665357, + -8.463145604764577e-06, + 0.0025093513540923595, + -0.0002954525698442012, + 0.0036916276440024376, + 0.004073198419064283, + -0.000664316292386502, + 0.0006378464167937636, + 0.0002826742420438677, + -0.000364108185749501, + -0.00010716636461438611, + 0.006328604184091091, + -0.0009763918933458626, + 0.004853681195527315, + 0.0024426330346614122, + -0.0009212488075718284, + 0.0007114490144886076, + 0.0007954725879244506, + 0.00012367281306069344, + -7.015332812443376e-05, + 0.0028265155851840973, + 0.00030358368530869484, + 0.004060622304677963, + 0.004399201832711697, + 8.751350833335891e-05, + 0.0006880779401399195, + 0.000272121571470052, + 0.00010320148430764675, + -7.854137948015705e-05, + 0.003479030216112733, + -1.658952714933548e-05, + 0.0019936745520681143, + 0.00022878947493154556, + -0.0001308226492255926, + 0.004505205899477005, + -0.00012508415966294706, + -0.0003816148964688182, + -0.0011421209201216698 + ], + "wrist_pos": [ + 0.13132363557815552, + 0.027559500187635422, + 0.694066047668457 + ], + "wrist_rot": [ + -0.5009544491767883, + 0.4989088475704193, + 0.5023613572120667, + 0.4977625012397766 + ], + "joint_positions": [ + 5.713973738608047e-09, + 7.908264265665821e-09 + ] + }, + { + "phase": "approach", + "step": 2, + "virtual_xyz": [ + 0.13185925781726837, + 0.02756379172205925, + 0.6940528750419617 + ], + "wrist_rpy": [ + -1.570689082145691, + -0.0028656802605837584, + 1.571881890296936 + ], + "finger_dofs": [ + 0.002239488298073411, + 6.111129914643243e-05, + 0.0010512825101613998, + 0.0016983699752017856, + 2.124563070537988e-05, + -0.00013470303383655846, + 0.0005601634038612247, + -6.432700320146978e-05, + -2.2921069557924056e-06, + 0.00214359606616199, + -9.170428529614583e-05, + 0.0008725005900487304, + 0.002256779232993722, + -4.725937469629571e-05, + -8.7307947978843e-05, + 0.000537258165422827, + -5.8914622059091926e-05, + -1.681102548900526e-05, + 0.0039047840982675552, + -0.00022876042930874974, + 0.001199617050588131, + 0.002149695297703147, + -0.00027709404821507633, + -2.72140750894323e-05, + 0.0007959792274050415, + 3.5025506804231554e-05, + 1.1274109965597745e-06, + 0.0022935105953365564, + -7.995497435331345e-05, + 0.000967847416177392, + 0.0024113336112350225, + -1.8782737242872827e-05, + -4.846064985031262e-05, + 0.000574170786421746, + 2.4436614694423042e-05, + -1.7138039765995927e-05, + 0.001992323435842991, + 0.0019156872294843197, + -0.0005947944591753185, + 0.0004932009032927454, + 0.00046520569594576955, + 0.00019276011153124273, + 9.237638005288318e-05, + 5.153458914719522e-05, + -0.0012107165530323982 + ], + "wrist_pos": [ + 0.13185936212539673, + 0.027563782408833504, + 0.6940528154373169 + ], + "wrist_rot": [ + -0.5004180669784546, + 0.4995279312133789, + 0.5010133981704712, + 0.4990381598472595 + ], + "joint_positions": [ + 5.907760058931899e-09, + 7.908817600821294e-09 + ] + }, + { + "phase": "approach", + "step": 3, + "virtual_xyz": [ + 0.13260391354560852, + 0.027565965428948402, + 0.6940518021583557 + ], + "wrist_rpy": [ + -1.5707526206970215, + -0.001236425363458693, + 1.5712579488754272 + ], + "finger_dofs": [ + 0.0030525289475917816, + -2.059812322841026e-05, + 0.0002231593825854361, + 0.0021450386848300695, + 6.462250894401222e-05, + -0.00013918918557465076, + 0.0009566944208927453, + 3.0112112199276453e-06, + -6.178299258863262e-07, + 0.0030195454601198435, + -3.5195855161873624e-05, + 0.00021888097398914397, + 0.002337975660338998, + 1.2641580724448431e-05, + -9.132673585554585e-05, + 0.0009428710909560323, + -5.6796557146299165e-06, + 7.894432201283053e-07, + 0.0036430596373975277, + -0.00015563014312647283, + 0.00046959042083472013, + 0.002325934125110507, + -0.00016495995805598795, + 5.89386181673035e-05, + 0.0010486782994121313, + 1.2544132914626971e-05, + 7.97543179942295e-06, + 0.003094381419941783, + -8.63712266436778e-05, + 0.0002703283680602908, + 0.0024100036825984716, + -2.61514669546159e-05, + -3.691797610372305e-05, + 0.000969179323874414, + 8.109155714919325e-06, + -4.789675131178228e-06, + 0.0017957336967810988, + 0.003769292961806059, + -0.0019341099541634321, + 0.00020711742399726063, + 0.00043095939327031374, + -0.0013797892024740577, + 4.586543218465522e-05, + 0.0001241241698153317, + -0.001924110809341073 + ], + "wrist_pos": [ + 0.13260401785373688, + 0.027565956115722656, + 0.6940517425537109 + ], + "wrist_rot": [ + -0.5001828074455261, + 0.4997953474521637, + 0.5004350543022156, + 0.4995863735675812 + ], + "joint_positions": [ + 6.101546379255751e-09, + 7.908962373903705e-09 + ] + }, + { + "phase": "approach", + "step": 4, + "virtual_xyz": [ + 0.1335480511188507, + 0.027567066252231598, + 0.6940510272979736 + ], + "wrist_rpy": [ + -1.5707786083221436, + -0.0005344616947695613, + 1.5709913969039917 + ], + "finger_dofs": [ + 0.004537935834378004, + -2.6650734071154147e-05, + 3.944733543903567e-05, + 0.003086218610405922, + 4.128169166506268e-05, + -9.023982420330867e-05, + 0.0014947326853871346, + 1.1091081432823557e-05, + -1.6578000838762819e-07, + 0.004527231212705374, + -1.590775173099246e-05, + 8.35730679682456e-05, + 0.003164982423186302, + -1.2556189176393673e-05, + -2.5307432224508375e-05, + 0.0014841712545603514, + -1.6028061509132385e-06, + 3.4499009871069575e-06, + 0.004679325968027115, + -0.0002065632288577035, + 0.0003946648212149739, + 0.003122788853943348, + -0.00017557817045599222, + 0.00020659306028392166, + 0.0015321127139031887, + 7.017673851805739e-06, + 5.0995054152735975e-06, + 0.00456733675673604, + -4.11877736041788e-05, + 0.00013687714817933738, + 0.003199391532689333, + -1.9122506273561157e-05, + 4.6226934500737116e-05, + 0.0014965323498472571, + 5.572683221544139e-06, + -2.9816060305165593e-06, + 0.0022924377117305994, + 0.0060045490972697735, + -0.003178244922310114, + 2.1667110559064895e-05, + 0.0004076422192156315, + -0.0024608850944787264, + 2.452538637953694e-06, + 0.00014663978072348982, + -0.00298842741176486 + ], + "wrist_pos": [ + 0.13354815542697906, + 0.027567056939005852, + 0.6940509676933289 + ], + "wrist_rot": [ + -0.5000804662704468, + 0.4999106228351593, + 0.500186562538147, + 0.49982213973999023 + ], + "joint_positions": [ + 6.295332699579603e-09, + 7.909004118289431e-09 + ] + }, + { + "phase": "approach", + "step": 5, + "virtual_xyz": [ + 0.13468478620052338, + 0.027567708864808083, + 0.6940507888793945 + ], + "wrist_rpy": [ + -1.570790410041809, + -0.00023245956981554627, + 1.570876121520996 + ], + "finger_dofs": [ + 0.0064869895577430725, + -2.3055732526700012e-05, + 6.316833491837315e-07, + 0.004363500978797674, + 2.3535909349448048e-05, + -6.752172339474782e-05, + 0.002161479089409113, + 1.120458728109952e-05, + -4.454945923271225e-08, + 0.006484050303697586, + -8.285403964691795e-06, + 6.493502587545663e-05, + 0.004402495920658112, + -3.658577406895347e-05, + 1.5915751646389253e-05, + 0.002151351422071457, + -4.179668394499458e-06, + 3.846724666800583e-06, + 0.006407967768609524, + -0.00026469293516129255, + 0.00045256808516569436, + 0.00431077228859067, + -0.0002033417549682781, + 0.0003161000495310873, + 0.0021729301661252975, + 5.992148089717375e-06, + 2.727665105339838e-06, + 0.0065094358287751675, + -8.202059689210728e-06, + 0.0001280825090361759, + 0.004420396871864796, + -1.311197138420539e-05, + 0.00010367721552029252, + 0.0021550569217652082, + 5.811277333123144e-06, + -2.9870648177166004e-06, + 0.0031649156007915735, + 0.008706299588084221, + -0.0045893630012869835, + -6.729192682541907e-05, + 0.0004391490947455168, + -0.003572938498109579, + -2.0469980881898664e-05, + 0.0001692638616077602, + -0.004321492277085781 + ], + "wrist_pos": [ + 0.13468489050865173, + 0.027567699551582336, + 0.6940507292747498 + ], + "wrist_rot": [ + -0.5000367760658264, + 0.49996036291122437, + 0.5000792741775513, + 0.49992358684539795 + ], + "joint_positions": [ + 6.489119019903455e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 6, + "virtual_xyz": [ + 0.13600695133209229, + 0.0275681521743536, + 0.6940507292747498 + ], + "wrist_rpy": [ + -1.5707958936691284, + -0.00010284229938406497, + 1.5708262920379639 + ], + "finger_dofs": [ + 0.008823549374938011, + -2.074524491035845e-05, + -6.764362751709996e-06, + 0.005912299267947674, + 1.4667525647382718e-05, + -6.220587965799496e-05, + 0.0029483065009117126, + 1.1232975339225959e-05, + -1.2119613757022307e-08, + 0.008823464624583721, + -5.308832896844251e-06, + 7.116350752767175e-05, + 0.0059365504421293736, + -5.323696314007975e-05, + 3.8530306483153254e-05, + 0.002937459386885166, + -6.670167749689426e-06, + 4.106917458557291e-06, + 0.008617907762527466, + -0.0003186007961630821, + 0.0005329353152774274, + 0.0057996041141450405, + -0.00023226282792165875, + 0.00039906345773488283, + 0.002945167711004615, + 6.309894160949625e-06, + 1.4828477787887095e-06, + 0.008843110874295235, + 1.0650738659023773e-05, + 0.00014526303857564926, + 0.005947146564722061, + -9.209080417349469e-06, + 0.00014183719758875668, + 0.0029363108333200216, + 6.6679681367531884e-06, + -3.315446065244032e-06, + 0.004277623258531094, + 0.011876307427883148, + -0.006217434536665678, + -0.00011422422539908439, + 0.0004951545270159841, + -0.004825982730835676, + -3.361325798323378e-05, + 0.00019459243048913777, + -0.005895967595279217 + ], + "wrist_pos": [ + 0.13600705564022064, + 0.027568142861127853, + 0.694050669670105 + ], + "wrist_rot": [ + -0.5000181198120117, + 0.4999816417694092, + 0.5000330209732056, + 0.4999670684337616 + ], + "joint_positions": [ + 6.6829053402273075e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 7, + "virtual_xyz": [ + 0.13750769197940826, + 0.027568496763706207, + 0.6940507292747498 + ], + "wrist_rpy": [ + -1.5707981586456299, + -4.7499641368631274e-05, + 1.5708036422729492 + ], + "finger_dofs": [ + 0.011512422002851963, + -2.0258414224372245e-05, + -8.142373189912178e-06, + 0.007701799739152193, + 1.0803012628457509e-05, + -6.474112160503864e-05, + 0.003849150612950325, + 1.186153713206295e-05, + -3.4087141997929393e-09, + 0.011513479053974152, + -4.387238732306287e-06, + 8.173240348696709e-05, + 0.007720345631241798, + -6.53031311230734e-05, + 5.202110332902521e-05, + 0.0038371412083506584, + -8.461101970169693e-06, + 4.485395493247779e-06, + 0.011222119443118572, + -0.0003696037456393242, + 0.00061362812994048, + 0.007545721251517534, + -0.00025988247944042087, + 0.0004683236766140908, + 0.003836550749838352, + 7.0855744525033515e-06, + 9.114572208090976e-07, + 0.011530956253409386, + 2.108743865392171e-05, + 0.0001666349417064339, + 0.007727173622697592, + -6.319021849776618e-06, + 0.00017032735922839493, + 0.0038330259267240763, + 7.687854122195859e-06, + -3.6929520774720004e-06, + 0.005580191034823656, + 0.015500296838581562, + -0.008066064678132534, + -0.00014367772382684052, + 0.000558864267077297, + -0.006239005830138922, + -4.253373481333256e-05, + 0.00022067694226279855, + -0.007698242552578449 + ], + "wrist_pos": [ + 0.13750779628753662, + 0.02756848745048046, + 0.694050669670105 + ], + "wrist_rot": [ + -0.5000103116035461, + 0.4999902844429016, + 0.5000131726264954, + 0.4999861717224121 + ], + "joint_positions": [ + 6.87669166055116e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 8, + "virtual_xyz": [ + 0.139179989695549, + 0.02756880596280098, + 0.694050669670105 + ], + "wrist_rpy": [ + -1.5707982778549194, + -2.420355667709373e-05, + 1.570793628692627 + ], + "finger_dofs": [ + 0.01453213207423687, + -2.0707320800283924e-05, + -8.751225323067047e-06, + 0.009713998064398766, + 9.141890586761292e-06, + -7.03557234373875e-05, + 0.0048589869402348995, + 1.2825718840758782e-05, + -1.3508655305471962e-09, + 0.014533666893839836, + -4.395837549964199e-06, + 9.243929525837302e-05, + 0.009729962795972824, + -7.5004187237937e-05, + 6.146179657662287e-05, + 0.004845659714192152, + -9.783286259335e-06, + 4.943154181091813e-06, + 0.014173496514558792, + -0.0004182331613264978, + 0.0006911040400154889, + 0.009521279484033585, + -0.00028522362117655575, + 0.0005305996164679527, + 0.0048385197296738625, + 8.046848961384967e-06, + 6.540200274685048e-07, + 0.014550033956766129, + 2.7381918698665686e-05, + 0.00018777158402372152, + 0.009733963757753372, + -3.4649049212021055e-06, + 0.0001942260714713484, + 0.004839287605136633, + 8.766202881815843e-06, + -4.05889068133547e-06, + 0.007044721394777298, + 0.0195603109896183, + -0.010127552784979343, + -0.00017408029816579074, + 0.0006517961155623198, + -0.007809201721101999, + -5.248534580459818e-05, + 0.00024534951080568135, + -0.00971825048327446 + ], + "wrist_pos": [ + 0.13918009400367737, + 0.027568794786930084, + 0.6940506100654602 + ], + "wrist_rot": [ + -0.5000069737434387, + 0.49999377131462097, + 0.5000048279762268, + 0.49999430775642395 + ], + "joint_positions": [ + 7.070477980875012e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 9, + "virtual_xyz": [ + 0.14101682603359222, + 0.027569079771637917, + 0.694050669670105 + ], + "wrist_rpy": [ + -1.5707991123199463, + -1.472311942052329e-05, + 1.5707885026931763 + ], + "finger_dofs": [ + 0.017866240814328194, + -2.1307892893673852e-05, + -9.380962183058728e-06, + 0.011936306953430176, + 8.229842023865785e-06, + -7.701522554270923e-05, + 0.005973199848085642, + 1.3899782061344013e-05, + -6.67353949879157e-10, + 0.017867999151349068, + -4.81309416500153e-06, + 0.00010267089237459004, + 0.011950470507144928, + -8.352752047358081e-05, + 6.914492405485362e-05, + 0.005958528723567724, + -1.083944607671583e-05, + 5.414722181740217e-06, + 0.01744908094406128, + -0.0005003628903068602, + 0.0007540917140431702, + 0.011714931577444077, + -0.0003030943626072258, + 0.0006329973111860454, + 0.005946414079517126, + 8.966537279775366e-06, + 4.974200464857859e-07, + 0.017883259803056717, + 3.178979750373401e-05, + 0.00020810769638046622, + 0.011951470747590065, + -1.0877010225840422e-07, + 0.00021545962954405695, + 0.005950109101831913, + 9.853368283074815e-06, + -4.365794666227885e-06, + 0.008674036711454391, + 0.024039678275585175, + -0.012395099736750126, + -0.00019117278861813247, + 0.0007822487968951464, + -0.00953336339443922, + -5.847541615366936e-05, + 0.0002693160204216838, + -0.011946851387619972 + ], + "wrist_pos": [ + 0.14101693034172058, + 0.02756907045841217, + 0.6940506100654602 + ], + "wrist_rot": [ + -0.5000061988830566, + 0.49999499320983887, + 0.5000010132789612, + 0.49999773502349854 + ], + "joint_positions": [ + 7.264264301198864e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 10, + "virtual_xyz": [ + 0.1430111825466156, + 0.02756933681666851, + 0.694050669670105 + ], + "wrist_rpy": [ + -1.5708006620407104, + -1.1307698514428921e-05, + 1.5707857608795166 + ], + "finger_dofs": [ + 0.021500248461961746, + -2.1826337615493685e-05, + -1.0189315617026296e-05, + 0.014358222484588623, + 7.435556653945241e-06, + -8.397582860197872e-05, + 0.007187319919466972, + 1.4978269064158667e-05, + -4.3294060003695733e-10, + 0.021502140909433365, + -5.452522600535303e-06, + 0.00011232351243961602, + 0.014370431192219257, + -9.130194666795433e-05, + 7.586218998767436e-05, + 0.007171337958425283, + -1.1722259841917548e-05, + 5.89006049267482e-06, + 0.021025437861680984, + -0.0006120800971984863, + 0.0008198010618798435, + 0.014112248085439205, + -0.00031889163074083626, + 0.0007520808721892536, + 0.007154085673391819, + 1.0000722795666661e-05, + 3.88781131732685e-07, + 0.021515818312764168, + 3.5324083000887185e-05, + 0.0002273202990181744, + 0.014367747120559216, + 4.053021712024929e-06, + 0.00023518415400758386, + 0.007160722743719816, + 1.095739753509406e-05, + -4.642402927856892e-06, + 0.010452685877680779, + 0.028918730095028877, + -0.014859679155051708, + -0.00020804388623218983, + 0.0009030313813127577, + -0.011405020952224731, + -6.649397255387157e-05, + 0.00029192905640229583, + -0.014375247061252594 + ], + "wrist_pos": [ + 0.14301128685474396, + 0.027569327503442764, + 0.6940506100654602 + ], + "wrist_rot": [ + -0.500006377696991, + 0.4999955892562866, + 0.49999916553497314, + 0.49999886751174927 + ], + "joint_positions": [ + 7.458050177433506e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 11, + "virtual_xyz": [ + 0.1451561599969864, + 0.02756958268582821, + 0.6940506100654602 + ], + "wrist_rpy": [ + -1.5708013772964478, + -1.056511428032536e-05, + 1.5707839727401733 + ], + "finger_dofs": [ + 0.0254204124212265, + -2.2050411644158885e-05, + -1.1066097613365855e-05, + 0.016970224678516388, + 6.452232355513843e-06, + -9.087168291443959e-05, + 0.008496941067278385, + 1.5999785318854265e-05, + -3.6871780628722206e-10, + 0.02542240358889103, + -6.197147286002291e-06, + 0.00012152644922025502, + 0.016979938372969627, + -9.858420526143163e-05, + 8.207500650314614e-05, + 0.008479693904519081, + -1.2491425877669826e-05, + 6.35444985164213e-06, + 0.02488563396036625, + -0.000727444130461663, + 0.0008838233188726008, + 0.01669662818312645, + -0.00033294156310148537, + 0.000864194065798074, + 0.008456009440124035, + 1.1081930097134318e-05, + 2.7719579520635307e-07, + 0.025433801114559174, + 3.855166505672969e-05, + 0.000245598639594391, + 0.016972819343209267, + 9.14774773264071e-06, + 0.000253856647759676, + 0.008466603234410286, + 1.2085511116310954e-05, + -4.896260634268401e-06, + 0.01237028930336237, + 0.03418140858411789, + -0.017512407153844833, + -0.0002257412561448291, + 0.0010164420818910003, + -0.01341721136122942, + -7.55410292185843e-05, + 0.000313070195261389, + -0.016994623467326164 + ], + "wrist_pos": [ + 0.14515626430511475, + 0.027569573372602463, + 0.6940505504608154 + ], + "wrist_rot": [ + -0.5000067949295044, + 0.49999549984931946, + 0.4999983310699463, + 0.4999992847442627 + ], + "joint_positions": [ + 7.65182939233e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 12, + "virtual_xyz": [ + 0.1474446952342987, + 0.027569826692342758, + 0.6940506100654602 + ], + "wrist_rpy": [ + -1.5708013772964478, + -1.1038853699574247e-05, + 1.5707828998565674 + ], + "finger_dofs": [ + 0.029613390564918518, + -2.195602428400889e-05, + -1.2106108442822006e-05, + 0.019763294607400894, + 5.2402679102669936e-06, + -9.771496843313798e-05, + 0.009897683747112751, + 1.6965739632723853e-05, + -2.9923011291010937e-10, + 0.02961541712284088, + -6.993060651439009e-06, + 0.0001301827433053404, + 0.019769735634326935, + -0.00010531455336604267, + 8.773038280196488e-05, + 0.009879234246909618, + -1.3144605873094406e-05, + 6.815364031353965e-06, + 0.029012203216552734, + -0.0008414776530116796, + 0.0009449134231545031, + 0.01945752650499344, + -0.00034369673812761903, + 0.0009711984894238412, + 0.009847274050116539, + 1.2171900380053557e-05, + 1.6965854854333884e-07, + 0.02962375059723854, + 4.16360235249158e-05, + 0.0002627990616019815, + 0.019757257774472237, + 1.525320749351522e-05, + 0.00027136405697092414, + 0.009863349609076977, + 1.3219791071605869e-05, + -5.099882855574833e-06, + 0.014420043677091599, + 0.039810437709093094, + -0.020344402641057968, + -0.0002441473479848355, + 0.001122289919294417, + -0.015563320368528366, + -8.556987449992448e-05, + 0.0003326728765387088, + -0.019796205684542656 + ], + "wrist_pos": [ + 0.14744479954242706, + 0.027569817379117012, + 0.6940505504608154 + ], + "wrist_rot": [ + -0.500007152557373, + 0.4999951124191284, + 0.4999981224536896, + 0.4999994933605194 + ], + "joint_positions": [ + 7.845608607226495e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 13, + "virtual_xyz": [ + 0.14986976981163025, + 0.027570055797696114, + 0.6940505504608154 + ], + "wrist_rpy": [ + -1.5708016157150269, + -1.2097140825062525e-05, + 1.5707824230194092 + ], + "finger_dofs": [ + 0.034066036343574524, + -2.1455978640005924e-05, + -1.3112013220961671e-05, + 0.02272859215736389, + 3.6648116292781197e-06, + -0.00010425268555991352, + 0.011385157704353333, + 1.7831869627116248e-05, + -2.2154349188507894e-10, + 0.0340680330991745, + -7.838604688004125e-06, + 0.00013845463399775326, + 0.02273094281554222, + -0.00011167466436745599, + 9.312437759945169e-05, + 0.011365566402673721, + -1.3716986359213479e-05, + 7.253263447637437e-06, + 0.033391110599040985, + -0.0009549085516482592, + 0.001003074343316257, + 0.022385986521840096, + -0.000351028167642653, + 0.0010725876782089472, + 0.01132343988865614, + 1.3257636055641342e-05, + 3.9990396771827363e-08, + 0.034072477370500565, + 4.4740903831552714e-05, + 0.00027907092589884996, + 0.022712111473083496, + 2.2395690393750556e-05, + 0.0002880264073610306, + 0.011346532963216305, + 1.4373124031408224e-05, + -5.280102413962595e-06, + 0.016594914719462395, + 0.045788589864969254, + -0.023346906527876854, + -0.0002630661183502525, + 0.0012208117404952645, + -0.017836464568972588, + -9.593184950063005e-05, + 0.0003506811335682869, + -0.02277127094566822 + ], + "wrist_pos": [ + 0.1498698890209198, + 0.027570046484470367, + 0.6940504908561707 + ], + "wrist_rot": [ + -0.5000075697898865, + 0.4999947249889374, + 0.4999983012676239, + 0.49999934434890747 + ], + "joint_positions": [ + 8.03938782212299e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 14, + "virtual_xyz": [ + 0.15242452919483185, + 0.027570277452468872, + 0.6940505504608154 + ], + "wrist_rpy": [ + -1.570801854133606, + -1.3484524970408529e-05, + 1.5707815885543823 + ], + "finger_dofs": [ + 0.03876515105366707, + -2.0582745491992682e-05, + -1.4233527508622501e-05, + 0.025857312604784966, + 1.7791743402995053e-06, + -0.00011070056643802673, + 0.012955011799931526, + 1.8635369997355156e-05, + -3.725565411727416e-10, + 0.03876703977584839, + -8.698973033460788e-06, + 0.00014626378833781928, + 0.025854671373963356, + -0.00011758730397559702, + 9.806288289837539e-05, + 0.012934335507452488, + -1.4188503882905934e-05, + 7.682137038500514e-06, + 0.03800991550087929, + -0.0010673028882592916, + 0.0010582354152575135, + 0.02547341212630272, + -0.0003547855594661087, + 0.0011688043596222997, + 0.01288021169602871, + 1.4351143363455776e-05, + -9.742864648387695e-08, + 0.038766760379076004, + 4.788977821590379e-05, + 0.0002943842555396259, + 0.025828462094068527, + 3.0571896786568686e-05, + 0.00030362705001607537, + 0.012911799363791943, + 1.5530567907262594e-05, + -5.413115559349535e-06, + 0.018887903541326523, + 0.05209862068295479, + -0.02651139535009861, + -0.0002826174895744771, + 0.0013119078939780593, + -0.020230434834957123, + -0.00010654437937773764, + 0.00036723323864862323, + -0.02591106668114662 + ], + "wrist_pos": [ + 0.1524246335029602, + 0.027570266276597977, + 0.6940504908561707 + ], + "wrist_rot": [ + -0.500008225440979, + 0.4999942481517792, + 0.49999839067459106, + 0.499999076128006 + ], + "joint_positions": [ + 8.233167037019484e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 15, + "virtual_xyz": [ + 0.15510185062885284, + 0.027570491656661034, + 0.6940506100654602 + ], + "wrist_rpy": [ + -1.570802092552185, + -1.5073191207193304e-05, + 1.5707805156707764 + ], + "finger_dofs": [ + 0.043697696179151535, + -1.9337068806635216e-05, + -1.5443156371475197e-05, + 0.029140783473849297, + -4.253854228863929e-07, + -0.00011697197624016553, + 0.014602866023778915, + 1.9361275917617604e-05, + -2.9996072292703957e-10, + 0.04369945079088211, + -9.582875463820528e-06, + 0.00015357969095930457, + 0.029132284224033356, + -0.00012303474068176, + 0.00010255877714371309, + 0.014581176452338696, + -1.4561133866664022e-05, + 8.097698810161091e-06, + 0.04285695403814316, + -0.0011830248404294252, + 0.001110064797103405, + 0.028713352978229523, + -0.000354219984728843, + 0.0012597199529409409, + 0.014514055103063583, + 1.545538179925643e-05, + -2.4147774979610404e-07, + 0.043693602085113525, + 5.104084266349673e-05, + 0.0003086732467636466, + 0.029097693040966988, + 3.973913044319488e-05, + 0.0003180892381351441, + 0.014554806984961033, + 1.6684320144122466e-05, + -5.497121946973493e-06, + 0.021292665973305702, + 0.05872291699051857, + -0.02982897311449051, + -0.0003027759084943682, + 0.0013954031746834517, + -0.022738449275493622, + -0.00011734286817954853, + 0.00038223297451622784, + -0.029206842184066772 + ], + "wrist_pos": [ + 0.1551019549369812, + 0.027570482343435287, + 0.6940505504608154 + ], + "wrist_rot": [ + -0.5000089406967163, + 0.4999936819076538, + 0.49999839067459106, + 0.4999988079071045 + ], + "joint_positions": [ + 8.426946251915979e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 16, + "virtual_xyz": [ + 0.15789474546909332, + 0.0275706946849823, + 0.6940506100654602 + ], + "wrist_rpy": [ + -1.5708025693893433, + -1.6802729078335688e-05, + 1.5707794427871704 + ], + "finger_dofs": [ + 0.048850610852241516, + -1.7675076378509402e-05, + -1.6596937712165527e-05, + 0.03257027268409729, + -3.0167311706463806e-06, + -0.00012289082224015146, + 0.016324350610375404, + 1.9980761862825602e-05, + -3.171006235369589e-10, + 0.04885213077068329, + -1.0496509275981225e-05, + 0.00016051724378485233, + 0.032555077224969864, + -0.00012813259672839195, + 0.0001068264537025243, + 0.016301710158586502, + -1.4860625924484339e-05, + 8.486378646921366e-06, + 0.04791664704680443, + -0.0012968842638656497, + 0.0011586850741878152, + 0.0320960097014904, + -0.00035006069811061025, + 0.001345298020169139, + 0.01622055657207966, + 1.6577372662140988e-05, + -4.1127771055471385e-07, + 0.048839930444955826, + 5.42580419278238e-05, + 0.0003220754733774811, + 0.03251108527183533, + 4.9896993004949763e-05, + 0.0003316225192975253, + 0.016271181404590607, + 1.783956031431444e-05, + -5.543762654269813e-06, + 0.02380272187292576, + 0.06564407050609589, + -0.03329082578420639, + -0.0003235622716601938, + 0.0014709417009726167, + -0.025353793054819107, + -0.0001281358563574031, + 0.0003956585132982582, + -0.03264986723661423 + ], + "wrist_pos": [ + 0.15789484977722168, + 0.027570685371756554, + 0.6940505504608154 + ], + "wrist_rot": [ + -0.5000097155570984, + 0.49999314546585083, + 0.49999842047691345, + 0.49999868869781494 + ], + "joint_positions": [ + 8.620725466812473e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 17, + "virtual_xyz": [ + 0.16079628467559814, + 0.027570897713303566, + 0.6940504908561707 + ], + "wrist_rpy": [ + -1.570803165435791, + -1.8638189430930652e-05, + 1.5707789659500122 + ], + "finger_dofs": [ + 0.05421072617173195, + -1.559060729050543e-05, + -1.7592972653801553e-05, + 0.03613705188035965, + -6.053822744434001e-06, + -0.00012835400411859155, + 0.018115080893039703, + 2.0479083104874007e-05, + -2.714979074891488e-10, + 0.05421200767159462, + -1.1458502740424592e-05, + 0.0001671931240707636, + 0.03611431270837784, + -0.00013299891725182533, + 0.00011103831639047712, + 0.018091557547450066, + -1.5107674698811024e-05, + 8.841065209708177e-06, + 0.05318065360188484, + -0.0014082249253988266, + 0.00120458472520113, + 0.035611771047115326, + -0.00034811816294677556, + 0.0014257251750677824, + 0.01799415424466133, + 1.7714148270897567e-05, + -6.16339434600377e-07, + 0.05419265478849411, + 5.757849430665374e-05, + 0.00033474326482973993, + 0.03606007248163223, + 6.1007365729892626e-05, + 0.00034445265191607177, + 0.018056537955999374, + 1.9009446987183765e-05, + -5.57182193006156e-06, + 0.02641177549958229, + 0.07284442335367203, + -0.03688835725188255, + -0.0003451673546805978, + 0.0015388429164886475, + -0.02806999534368515, + -0.00013902143109589815, + 0.0004075613396707922, + -0.03623141348361969 + ], + "wrist_pos": [ + 0.1607963889837265, + 0.02757088840007782, + 0.6940504312515259 + ], + "wrist_rot": [ + -0.5000104904174805, + 0.4999927580356598, + 0.4999985992908478, + 0.4999980926513672 + ], + "joint_positions": [ + 8.814504681708968e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 18, + "virtual_xyz": [ + 0.16379941999912262, + 0.02757108584046364, + 0.6940504908561707 + ], + "wrist_rpy": [ + -1.5708038806915283, + -2.0574294467223808e-05, + 1.570778727531433 + ], + "finger_dofs": [ + 0.05976509675383568, + -1.3196095096645877e-05, + -1.8897713744081557e-05, + 0.03983258828520775, + -9.243691238225438e-06, + -0.00013393575500231236, + 0.019970720633864403, + 2.0953853891114704e-05, + -3.364572231934204e-10, + 0.05976605415344238, + -1.2378212886687834e-05, + 0.0001731954253045842, + 0.03980148211121559, + -0.00013721719733439386, + 0.00011444733536336571, + 0.019946394488215446, + -1.522254115116084e-05, + 9.198774023388978e-06, + 0.058634258806705475, + -0.001515233889222145, + 0.0012466232292354107, + 0.039252255111932755, + -0.00034235307248309255, + 0.001499609206803143, + 0.019830817356705666, + 1.8837652532965876e-05, + -7.983408636391687e-07, + 0.05973881855607033, + 6.087542715249583e-05, + 0.00034615560434758663, + 0.039736099541187286, + 7.292450027307495e-05, + 0.0003557603631634265, + 0.01990661956369877, + 2.0146952010691166e-05, + -5.539558515010867e-06, + 0.02911410853266716, + 0.08030646294355392, + -0.04061300307512283, + -0.00036683896905742586, + 0.001599685288965702, + -0.030880901962518692, + -0.00014987947361078113, + 0.0004180602845735848, + -0.039942700415849686 + ], + "wrist_pos": [ + 0.16379952430725098, + 0.027571076527237892, + 0.6940504312515259 + ], + "wrist_rot": [ + -0.5000112056732178, + 0.49999237060546875, + 0.4999988079071045, + 0.4999975562095642 + ], + "joint_positions": [ + 9.008283896605462e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 19, + "virtual_xyz": [ + 0.1668972373008728, + 0.027571260929107666, + 0.6940504908561707 + ], + "wrist_rpy": [ + -1.5708041191101074, + -2.259846223751083e-05, + 1.5707783699035645 + ], + "finger_dofs": [ + 0.0655006393790245, + -1.0444279723742511e-05, + -2.0214349206071347e-05, + 0.043648164719343185, + -1.2743651495839003e-05, + -0.00013928201224189252, + 0.02188689261674881, + 2.1347796064219438e-05, + -6.101215088705203e-10, + 0.06550119817256927, + -1.3306970686244313e-05, + 0.00017878915241453797, + 0.0436079241335392, + -0.00014105848094914109, + 0.00011752339923987165, + 0.021861830726265907, + -1.525975858385209e-05, + 9.535365279589314e-06, + 0.06426507234573364, + -0.0016187513247132301, + 0.0012856039684265852, + 0.04300921410322189, + -0.0003321676340419799, + 0.0015681718941777945, + 0.021726373583078384, + 1.996302671614103e-05, + -9.923892321239691e-07, + 0.06546542793512344, + 6.420960562536493e-05, + 0.0003566592058632523, + 0.04353058338165283, + 8.563464507460594e-05, + 0.0003660782240331173, + 0.021817030385136604, + 2.1274912796798162e-05, + -5.47628769709263e-06, + 0.031903237104415894, + 0.08801249414682388, + -0.04445606470108032, + -0.0003890144871547818, + 0.0016531705623492599, + -0.03377985209226608, + -0.00016075764142442495, + 0.0004271666402928531, + -0.043775029480457306 + ], + "wrist_pos": [ + 0.16689734160900116, + 0.02757125347852707, + 0.6940504312515259 + ], + "wrist_rot": [ + -0.5000118613243103, + 0.49999168515205383, + 0.4999992251396179, + 0.4999971389770508 + ], + "joint_positions": [ + 9.202063111501957e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 20, + "virtual_xyz": [ + 0.170082688331604, + 0.027571436017751694, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.570804476737976, + -2.4686627511982806e-05, + 1.570778250694275 + ], + "finger_dofs": [ + 0.071404367685318, + -7.349118732236093e-06, + -2.1357653167797253e-05, + 0.047575123608112335, + -1.6620741007500328e-05, + -0.0001440901105524972, + 0.023859206587076187, + 2.1616022422676906e-05, + -3.897450695511395e-10, + 0.07140441238880157, + -1.4291528714238666e-05, + 0.00018408506002742797, + 0.0475250706076622, + -0.0001446513197151944, + 0.0001205462685902603, + 0.023833483457565308, + -1.5249768694047816e-05, + 9.835744094743859e-06, + 0.07006508111953735, + -0.001701104803942144, + 0.001321684685535729, + 0.04687854275107384, + -0.00031843342003412545, + 0.0016334917163476348, + 0.023677950724959373, + 2.1061838197056204e-05, + -1.2122153520977008e-06, + 0.07135941088199615, + 6.761862459825352e-05, + 0.0003663080569822341, + 0.047435056418180466, + 9.909618529491127e-05, + 0.00037572075962089, + 0.023783359676599503, + 2.2410766177927144e-05, + -5.4167908274393994e-06, + 0.03477337956428528, + 0.09594476968050003, + -0.04840867593884468, + -0.00041151963523589075, + 0.0016988901188597083, + -0.036759935319423676, + -0.00017153484805021435, + 0.00043476224527694285, + -0.04771966114640236 + ], + "wrist_pos": [ + 0.17008277773857117, + 0.027571426704525948, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000124573707581, + 0.49999135732650757, + 0.4999995827674866, + 0.499996542930603 + ], + "joint_positions": [ + 9.395842326398451e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 21, + "virtual_xyz": [ + 0.1733487993478775, + 0.02757159434258938, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708045959472656, + -2.6817140678758733e-05, + 1.5707780122756958 + ], + "finger_dofs": [ + 0.07746316492557526, + -3.988299340562662e-06, + -2.27018663281342e-05, + 0.05160496383905411, + -2.063098509097472e-05, + -0.00014886425924487412, + 0.025883328169584274, + 2.1842235582880676e-05, + -4.143778098431028e-10, + 0.07746272534132004, + -1.5240731045196299e-05, + 0.00018881434516515583, + 0.051544442772865295, + -0.00014770419511478394, + 0.00012296607019379735, + 0.025857016444206238, + -1.5140659343160223e-05, + 1.0132098395843059e-05, + 0.07602743804454803, + -0.0017064462881535292, + 0.0013543122913688421, + 0.05085339397192001, + -0.0003030791413038969, + 0.0016937131294980645, + 0.02568216621875763, + 2.211150058428757e-05, + -1.412384222021501e-06, + 0.07740777730941772, + 7.107385317794979e-05, + 0.0003748062008526176, + 0.051441218703985214, + 0.00011311551497783512, + 0.00038418086478486657, + 0.025801310315728188, + 2.353265881538391e-05, + -5.348109425540315e-06, + 0.03771842643618584, + 0.10408596694469452, + -0.05246245115995407, + -0.0004341080493759364, + 0.001737798796966672, + -0.039815157651901245, + -0.00018218503100797534, + 0.0004410734982229769, + -0.05176784470677376 + ], + "wrist_pos": [ + 0.17334890365600586, + 0.027571585029363632, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000130534172058, + 0.49999070167541504, + 0.5000000596046448, + 0.49999603629112244 + ], + "joint_positions": [ + 9.589621541294946e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 22, + "virtual_xyz": [ + 0.1766885668039322, + 0.027571745216846466, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708048343658447, + -2.9012002414674498e-05, + 1.5707778930664062 + ], + "finger_dofs": [ + 0.08366405218839645, + -3.77029152787145e-07, + -2.4078759452095255e-05, + 0.05572895705699921, + -2.4869723347364925e-05, + -0.0001533563045086339, + 0.027954865247011185, + 2.199017399107106e-05, + -7.075750541041259e-10, + 0.08366306126117706, + -1.6198993762372993e-05, + 0.0001930846192408353, + 0.055657368153333664, + -0.0001503680250607431, + 0.00012502417666837573, + 0.027928050607442856, + -1.4962231944082305e-05, + 1.0410521099402104e-05, + 0.08212698251008987, + -0.0017101007979363203, + 0.0013864414067938924, + 0.05492088198661804, + -0.0002835463092196733, + 0.0017258552834391594, + 0.027732249349355698, + 2.3217038688017055e-05, + -1.6051965303631732e-06, + 0.08359774202108383, + 7.449799159076065e-05, + 0.00038231725920923054, + 0.05554025620222092, + 0.00012767018051818013, + 0.0003915433189831674, + 0.027866605669260025, + 2.4616276277811266e-05, + -5.239947313384619e-06, + 0.0407322458922863, + 0.11241813004016876, + -0.05660853907465935, + -0.000456739217042923, + 0.0017697102157399058, + -0.042938776314258575, + -0.00019265027367509902, + 0.00044604143477045, + -0.05591083690524101 + ], + "wrist_pos": [ + 0.17668867111206055, + 0.02757173590362072, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000137686729431, + 0.49999022483825684, + 0.500000536441803, + 0.4999954104423523 + ], + "joint_positions": [ + 9.78340075619144e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 23, + "virtual_xyz": [ + 0.18009500205516815, + 0.02757188491523266, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708050727844238, + -3.122994530713186e-05, + 1.5707778930664062 + ], + "finger_dofs": [ + 0.08999399840831757, + 3.4919858080684207e-06, + -2.5481951524852775e-05, + 0.059938520193099976, + -2.928938192781061e-05, + -0.00015760007954668254, + 0.030069470405578613, + 2.2067639292799868e-05, + -3.548105698136794e-10, + 0.08999239653348923, + -1.7135909729404375e-05, + 0.00019690438057295978, + 0.05985535681247711, + -0.00015262347005773336, + 0.0001267003099201247, + 0.030042214319109917, + -1.471442919864785e-05, + 1.066991808329476e-05, + 0.08835288137197495, + -0.0017080086981877685, + 0.0014151922659948468, + 0.05907304957509041, + -0.0002611585077829659, + 0.0017220708541572094, + 0.029825041070580482, + 2.425118873361498e-05, + -1.7910433598444797e-06, + 0.08991624414920807, + 7.792942051310092e-05, + 0.0003888063074555248, + 0.05972384288907051, + 0.00014265975914895535, + 0.00039793059113435447, + 0.029974859207868576, + 2.567213414295111e-05, + -5.123270966578275e-06, + 0.04381055384874344, + 0.12092360109090805, + -0.060838282108306885, + -0.0004782132164109498, + 0.0017837631748989224, + -0.046124231070280075, + -0.0002026200818363577, + 0.0004497043846640736, + -0.06013992801308632 + ], + "wrist_pos": [ + 0.1800951063632965, + 0.027571875602006912, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000143647193909, + 0.49998974800109863, + 0.5000010132789612, + 0.4999947249889374 + ], + "joint_positions": [ + 9.977179971087935e-09, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 24, + "virtual_xyz": [ + 0.18356111645698547, + 0.027572017163038254, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708047151565552, + -3.34613214363344e-05, + 1.5707776546478271 + ], + "finger_dofs": [ + 0.09644009172916412, + 7.60857756176847e-06, + -2.678310193005018e-05, + 0.06422505527734756, + -3.390722122276202e-05, + -0.00016142275126185268, + 0.03222275897860527, + 2.205446617153939e-05, + -5.137628655838e-10, + 0.09643770009279251, + -1.808588240237441e-05, + 0.0002003689733101055, + 0.06412987411022186, + -0.00015457127301488072, + 0.00012819872063118964, + 0.032195135951042175, + -1.441840322513599e-05, + 1.089742363546975e-05, + 0.09468793123960495, + -0.001707454677671194, + 0.0014390511205419898, + 0.06329285353422165, + -0.0002359977224841714, + 0.0017206171760335565, + 0.03195404261350632, + 2.535082421672996e-05, + -1.9880135369021446e-06, + 0.09635044634342194, + 8.134816016536206e-05, + 0.0003945853386539966, + 0.06398351490497589, + 0.0001579825475346297, + 0.00040322812856175005, + 0.03212182596325874, + 2.6678802896640263e-05, + -4.966033884556964e-06, + 0.046945080161094666, + 0.12958607077598572, + -0.0651431456208229, + -0.0004970035515725613, + 0.001783850253559649, + -0.04936511814594269, + -0.00021008907060604542, + 0.00045229398529045284, + -0.0644463300704956 + ], + "wrist_pos": [ + 0.18356122076511383, + 0.027572007849812508, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000149607658386, + 0.49998903274536133, + 0.5000016093254089, + 0.4999943673610687 + ], + "joint_positions": [ + 1.017095918598443e-08, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 25, + "virtual_xyz": [ + 0.18707992136478424, + 0.0275721438229084, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.570804476737976, + -3.571703200577758e-05, + 1.5707775354385376 + ], + "finger_dofs": [ + 0.10298920422792435, + 1.1921525583602488e-05, + -2.8147233024355955e-05, + 0.0685800239443779, + -3.862205630866811e-05, + -0.0001650336926104501, + 0.03441037982702255, + 2.198423317167908e-05, + -6.639306326938765e-10, + 0.10298603028059006, + -1.90106457012007e-05, + 0.00020334284636192024, + 0.06847243756055832, + -0.0001561108510941267, + 0.00012927988427691162, + 0.03438247740268707, + -1.4060149624128826e-05, + 1.1106460078735836e-05, + 0.10112439841032028, + -0.0017088024178519845, + 0.001460705534555018, + 0.0675797089934349, + -0.00020908001170028, + 0.0017206917982548475, + 0.03411638364195824, + 2.6431320293340832e-05, + -2.1679795736417873e-06, + 0.10288736969232559, + 8.47567425807938e-05, + 0.0003993799618910998, + 0.06831091642379761, + 0.00017350145208183676, + 0.0004074523167219013, + 0.03430313616991043, + 2.7635227525024675e-05, + -4.791526407643687e-06, + 0.05013076215982437, + 0.13838572800159454, + -0.06951446831226349, + -0.0005167191266082227, + 0.0017839382635429502, + -0.0526551678776741, + -0.0002183077740482986, + 0.00045366803533397615, + -0.06882139295339584 + ], + "wrist_pos": [ + 0.1870800256729126, + 0.027572136372327805, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000154376029968, + 0.4999883770942688, + 0.5000022649765015, + 0.49999386072158813 + ], + "joint_positions": [ + 1.0364738400880924e-08, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 26, + "virtual_xyz": [ + 0.19064445793628693, + 0.02757224813103676, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708043575286865, + -3.797451063292101e-05, + 1.5707776546478271 + ], + "finger_dofs": [ + 0.1096283346414566, + 1.6345402400474995e-05, + -2.9452192393364385e-05, + 0.07299473881721497, + -4.346136120148003e-05, + -0.00016822759062051773, + 0.03662795573472977, + 2.183313699788414e-05, + -6.929280482736999e-10, + 0.10962436348199844, + -1.9962786609539762e-05, + 0.00020593575027305633, + 0.07287450134754181, + -0.00015735412307549268, + 0.00013014362775720656, + 0.03659985959529877, + -1.3658802345162258e-05, + 1.1293403076706454e-05, + 0.10765282064676285, + -0.0017109033651649952, + 0.0014797417679801583, + 0.07192852348089218, + -0.00018260213255416602, + 0.0017213859828189015, + 0.0363088920712471, + 2.7448437322163954e-05, + -2.336114448553417e-06, + 0.10951406508684158, + 8.80481893545948e-05, + 0.00040328435716219246, + 0.07269763946533203, + 0.00018916898989118636, + 0.0004108771972823888, + 0.03651442378759384, + 2.8554326490848325e-05, + -4.6124828259053174e-06, + 0.05336131900548935, + 0.14730508625507355, + -0.07394347339868546, + -0.0005372376181185246, + 0.0017840040381997824, + -0.0559876449406147, + -0.00022692588390782475, + 0.00045381730888038874, + -0.07325632870197296 + ], + "wrist_pos": [ + 0.19064456224441528, + 0.027572238817811012, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000160336494446, + 0.49998781085014343, + 0.5000028014183044, + 0.49999329447746277 + ], + "joint_positions": [ + 1.0558517615777419e-08, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 27, + "virtual_xyz": [ + 0.19424766302108765, + 0.027572352439165115, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708038806915283, + -4.022116991109215e-05, + 1.5707781314849854 + ], + "finger_dofs": [ + 0.11634450405836105, + 2.0885405319859274e-05, + -3.07864356727805e-05, + 0.07746069878339767, + -4.8343146772822365e-05, + -0.00017115713853854686, + 0.03887113556265831, + 2.1626965462928638e-05, + -6.303779165328649e-10, + 0.11633966863155365, + -2.0867497369181365e-05, + 0.00020804544328711927, + 0.07732760161161423, + -0.00015820130647625774, + 0.0001305991900153458, + 0.03884289041161537, + -1.3205633877078071e-05, + 1.1460956557129975e-05, + 0.1142592653632164, + -0.0017131342319771647, + 0.0014952688943594694, + 0.07633063197135925, + -0.00015423203876707703, + 0.0017221118323504925, + 0.03852756693959236, + 2.8389167709974572e-05, + -2.488545533196884e-06, + 0.1162177324295044, + 9.126643999479711e-05, + 0.00040618126513436437, + 0.07713524252176285, + 0.00020479044178500772, + 0.0004132342291995883, + 0.038751427084207535, + 2.9406157409539446e-05, + -4.4205999074620195e-06, + 0.056630413979291916, + 0.15632674098014832, + -0.0784214586019516, + -0.0005581810837611556, + 0.0017840588698163629, + -0.05935600772500038, + -0.00023551091726403683, + 0.00045279122423380613, + -0.07774239778518677 + ], + "wrist_pos": [ + 0.194247767329216, + 0.02757234312593937, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000162720680237, + 0.49998730421066284, + 0.5000036358833313, + 0.4999927282333374 + ], + "joint_positions": [ + 1.0752296830673913e-08, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 28, + "virtual_xyz": [ + 0.19788259267807007, + 0.027572445571422577, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708034038543701, + -4.243916555424221e-05, + 1.5707783699035645 + ], + "finger_dofs": [ + 0.12312470376491547, + 2.554143611632753e-05, + -3.209198985132389e-05, + 0.08196929842233658, + -5.325170423020609e-05, + -0.0001737603306537494, + 0.04113553836941719, + 2.1361563995014876e-05, + -6.922195039393841e-10, + 0.12311901152133942, + -2.1743526303907856e-05, + 0.0002097231918014586, + 0.08182324469089508, + -0.00015869818162173033, + 0.00013074961316306144, + 0.041107237339019775, + -1.27102030091919e-05, + 1.1602873200899921e-05, + 0.1209295243024826, + -0.0017153044464066625, + 0.0015072559472173452, + 0.08077513426542282, + -0.0001239826815435663, + 0.0017227537464350462, + 0.040767449885606766, + 2.9265151169965975e-05, + -2.628489028211334e-06, + 0.12298540025949478, + 9.44073690334335e-05, + 0.00040817036642692983, + 0.08161531388759613, + 0.00022029697720427066, + 0.00041463071829639375, + 0.04100978747010231, + 3.0193385100574233e-05, + -4.219638412905624e-06, + 0.05993206799030304, + 0.16543304920196533, + -0.08293981850147247, + -0.0005795085453428328, + 0.001784088322892785, + -0.0627538338303566, + -0.00024396945082116872, + 0.0004506708064582199, + -0.08227092772722244 + ], + "wrist_pos": [ + 0.19788271188735962, + 0.02757243625819683, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000166296958923, + 0.49998655915260315, + 0.5000043511390686, + 0.49999234080314636 + ], + "joint_positions": [ + 1.0946076045570408e-08, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 29, + "virtual_xyz": [ + 0.20154224336147308, + 0.027572521939873695, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.570802927017212, + -4.461484058992937e-05, + 1.5707786083221436 + ], + "finger_dofs": [ + 0.12995591759681702, + 3.025083424290642e-05, + -3.343377829878591e-05, + 0.08651196211576462, + -5.8101777540287e-05, + -0.00017611478688195348, + 0.043416790664196014, + 2.1052546799182892e-05, + -3.1135405365034785e-10, + 0.12994928658008575, + -2.2559455828741193e-05, + 0.00021092093084007502, + 0.08635294437408447, + -0.00015881232684478164, + 0.00013050122652202845, + 0.04338853806257248, + -1.2172653441666625e-05, + 1.172903193946695e-05, + 0.12765191495418549, + -0.0017174107488244772, + 0.0015157265588641167, + 0.08525372296571732, + -9.244303510058671e-05, + 0.0017232183599844575, + 0.04302424564957619, + 3.00726624118397e-05, + -2.736703891059733e-06, + 0.1298040896654129, + 9.74436043179594e-05, + 0.00040922273183241487, + 0.08612948656082153, + 0.00023551701451651752, + 0.00041496215271763504, + 0.04328520968556404, + 3.090241807512939e-05, + -4.00408316636458e-06, + 0.06326092034578323, + 0.17460593581199646, + -0.0874900296330452, + -0.000600971223320812, + 0.0017841148655861616, + -0.06617479026317596, + -0.000252560421358794, + 0.0004475302412174642, + -0.08683312684297562 + ], + "wrist_pos": [ + 0.20154234766960144, + 0.02757251262664795, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000170469284058, + 0.49998602271080017, + 0.5000051259994507, + 0.4999917149543762 + ], + "joint_positions": [ + 1.1139855260466902e-08, + 7.90900500646785e-09 + ] + }, + { + "phase": "approach", + "step": 30, + "virtual_xyz": [ + 0.2052159160375595, + 0.027571989223361015, + 0.6940500736236572 + ], + "wrist_rpy": [ + -1.5707933902740479, + 0.00015924120089039207, + 1.5706974267959595 + ], + "finger_dofs": [ + 0.13676562905311584, + 4.641694249585271e-05, + -2.1855987142771482e-05, + 0.09104493260383606, + -7.719959830865264e-05, + -0.00015832659846637398, + 0.04570868983864784, + 1.790228452591691e-05, + 1.669005045279448e-09, + 0.13997045159339905, + -0.001956475665792823, + -0.003670370439067483, + 0.09151603281497955, + 0.001896801171824336, + 0.000716830778401345, + 0.04542365297675133, + -6.0941958508919924e-05, + 1.0927019502560142e-05, + 0.133707195520401, + -0.0016621846007183194, + 0.0019143758108839393, + 0.090117909014225, + -0.0003902844910044223, + 0.0015844065928831697, + 0.04517463594675064, + 9.489944204688072e-05, + 0.00011156650725752115, + 0.13606248795986176, + 0.0002060764963971451, + 0.0006514951819553971, + 0.0911378264427185, + 0.00012949551455676556, + 0.00024942599702626467, + 0.045458272099494934, + 6.434941315092146e-05, + 1.2336763575149234e-06, + 0.06641195714473724, + 0.1839025765657425, + -0.09205570071935654, + -0.0007280516438186169, + 0.0016974116442725062, + -0.06952029466629028, + -0.00024317775387316942, + 0.000473446911200881, + -0.09146218746900558 + ], + "wrist_pos": [ + 0.20521600544452667, + 0.02757197991013527, + 0.6940500140190125 + ], + "wrist_rot": [ + -0.4999840557575226, + 0.5000143051147461, + 0.49993619322776794, + 0.5000653266906738 + ], + "joint_positions": [ + 1.1333634475363397e-08, + -7.659097661649739e-11 + ] + }, + { + "phase": "approach", + "step": 31, + "virtual_xyz": [ + 0.2088838368654251, + 0.02757979929447174, + 0.6940425038337708 + ], + "wrist_rpy": [ + -1.571017861366272, + -0.0010251693893224, + 1.570487141609192 + ], + "finger_dofs": [ + 0.14416415989398956, + -0.00013468477118294686, + -0.00015488025383092463, + 0.09603041410446167, + 5.629643055726774e-05, + -0.0003493087424430996, + 0.04802864417433739, + 4.393405470182188e-05, + -4.4653113207004935e-08, + 0.17490585148334503, + 0.002225796924903989, + -0.03498397767543793, + 0.15885570645332336, + 0.0021484943572431803, + -0.0031566964462399483, + 0.0535857267677784, + 0.0018253038870170712, + 2.959405719593633e-05, + 0.14428648352622986, + -0.0018042593728750944, + 0.0026242586318403482, + 0.09155475348234177, + 0.001782418810762465, + 0.0008668518275953829, + 0.048379167914390564, + -0.0005987382610328496, + 0.000429408042691648, + 0.14658689498901367, + -0.00043900523451156914, + 0.0012144924839958549, + 0.09194041788578033, + 0.000906733563169837, + -0.0003648142737802118, + 0.04922141134738922, + -0.00036651623668149114, + 0.00024015553935896605, + 0.07051754742860794, + 0.19285419583320618, + -0.09584879875183105, + -0.0004744374309666455, + 0.001794128678739071, + -0.0740862786769867, + -0.0006331081967800856, + 0.00010611863399390131, + -0.09540640562772751 + ], + "wrist_pos": [ + 0.20888394117355347, + 0.027579788118600845, + 0.694042444229126 + ], + "wrist_rot": [ + -0.5003885626792908, + 0.4997216761112213, + 0.5001236796379089, + 0.49976563453674316 + ], + "joint_positions": [ + -5.136961966911713e-10, + -1.4383295943165564e-10 + ] + }, + { + "phase": "approach", + "step": 32, + "virtual_xyz": [ + 0.21258050203323364, + 0.027573108673095703, + 0.6940460801124573 + ], + "wrist_rpy": [ + -1.5711102485656738, + -0.0011586444452404976, + 1.5702944993972778 + ], + "finger_dofs": [ + 0.15131360292434692, + -0.00018219406774733216, + -0.00019102725491393358, + 0.10080263763666153, + 0.00010915977327385917, + -0.00041926835547201335, + 0.050342220813035965, + 5.2740790124516934e-05, + -7.495619769315454e-08, + 0.20388999581336975, + 0.0025285121519118547, + -0.04201121628284454, + 0.2432640790939331, + 0.001904921606183052, + -0.003490844741463661, + 0.06274057924747467, + 0.0018142156768590212, + 3.0104531106189825e-05, + 0.15074847638607025, + -0.0017992984503507614, + 0.003271515481173992, + 0.09549065679311752, + 0.0014354210579767823, + 0.0004590291646309197, + 0.050651468336582184, + -0.0007025709492154419, + 0.0006629892159253359, + 0.15345509350299835, + -0.0004130986344534904, + 0.0015532770194113255, + 0.09621274471282959, + 0.0009255406330339611, + -0.00044863991206511855, + 0.05174358934164047, + -0.00043972142157144845, + 0.0002340779610676691, + 0.07376652210950851, + 0.20223155617713928, + -0.10040649026632309, + -0.0007494717137888074, + 0.0017892218893393874, + -0.0775529071688652, + -0.0006782250129617751, + 0.0001696206018095836, + -0.10005313158035278 + ], + "wrist_pos": [ + 0.212580606341362, + 0.027573099359869957, + 0.6940460205078125 + ], + "wrist_rot": [ + -0.5004932880401611, + 0.49966320395469666, + 0.5000856518745422, + 0.49975740909576416 + ], + "joint_positions": [ + -7.817828606704325e-10, + -4.0823334296336e-11 + ] + }, + { + "phase": "approach", + "step": 33, + "virtual_xyz": [ + 0.21623249351978302, + 0.027589743956923485, + 0.6940339803695679 + ], + "wrist_rpy": [ + -1.5707417726516724, + -0.002958676079288125, + 1.5706171989440918 + ], + "finger_dofs": [ + 0.18283452093601227, + -0.00038990756729617715, + -0.00511488551273942, + 0.1556059867143631, + 0.002450566738843918, + 0.0026153416838496923, + 0.05277863144874573, + -0.001831846428103745, + 4.433597666775313e-07, + 0.2415432184934616, + 0.003107269061729312, + -0.05648744851350784, + 0.28099146485328674, + 0.002077587880194187, + -0.003600343829020858, + 0.06830979138612747, + 0.0014939915854483843, + -0.0005220381426624954, + 0.1670161336660385, + -0.0018757233629003167, + -0.0002776756009552628, + 0.09855730831623077, + 0.0018270609434694052, + 0.0001923951058415696, + 0.05457696318626404, + -0.0016237507807090878, + 0.0003747936279978603, + 0.16635309159755707, + -0.001072808401659131, + -0.00010589096928015351, + 0.09678097814321518, + 0.0017834095051512122, + -7.06914797774516e-05, + 0.05623457953333855, + -0.0010751246009021997, + -0.0001273115776712075, + 0.08219205588102341, + 0.2105661779642105, + -0.10440273582935333, + -0.0003330260224174708, + -2.9834338420187123e-05, + -0.07988549768924713, + -0.0005217533325776458, + -0.0005222597974352539, + -0.1043941080570221 + ], + "wrist_pos": [ + 0.21623259782791138, + 0.02758973464369774, + 0.6940339207649231 + ], + "wrist_rot": [ + -0.5007702112197876, + 0.49920135736465454, + 0.5007079243659973, + 0.4993182420730591 + ], + "joint_positions": [ + -2.074712179833682e-09, + -1.4329359920850493e-10 + ] + }, + { + "phase": "approach", + "step": 34, + "virtual_xyz": [ + 0.21991129219532013, + 0.027596596628427505, + 0.6940342783927917 + ], + "wrist_rpy": [ + -1.5706984996795654, + -0.004111410118639469, + 1.570755124092102 + ], + "finger_dofs": [ + 0.2132977992296219, + -0.002053716918453574, + -0.00499985134229064, + 0.23411543667316437, + 0.0029396519530564547, + 0.0028969228733330965, + 0.05646336078643799, + -0.001848616637289524, + 8.904843298296328e-07, + 0.2668890357017517, + 0.004036111291497946, + -0.06957697868347168, + 0.37052464485168457, + 0.0019475191365927458, + -0.004013236612081528, + 0.07440966367721558, + 0.0013173114275559783, + -0.0007832864066585898, + 0.17267948389053345, + -0.0018905570032075047, + 0.0012895641848444939, + 0.09854652732610703, + 0.0018663619412109256, + 0.0012557514710351825, + 0.056931689381599426, + -0.0017901859246194363, + 0.0004554085899144411, + 0.17498177289962769, + -0.0012781225377693772, + 5.371429870137945e-05, + 0.09776649624109268, + 0.0017923061968758702, + 0.0005176042323000729, + 0.059513822197914124, + -0.0013780381996184587, + -0.00039892445784062147, + 0.08400918543338776, + 0.22129294276237488, + -0.10991469770669937, + -0.001541208941489458, + 0.001550615532323718, + -0.08431701362133026, + -0.0008935213554650545, + 0.00010546602425165474, + -0.10914172977209091 + ], + "wrist_pos": [ + 0.2199113965034485, + 0.02759658731520176, + 0.694034218788147 + ], + "wrist_rot": [ + -0.5010126233100891, + 0.498936265707016, + 0.5010408759117126, + 0.4990059435367584 + ], + "joint_positions": [ + -2.4717887736613875e-09, + -5.31718696850092e-11 + ] + }, + { + "phase": "approach", + "step": 35, + "virtual_xyz": [ + 0.22353051602840424, + 0.027639444917440414, + 0.6940264701843262 + ], + "wrist_rpy": [ + -1.5695492029190063, + -0.005599443335086107, + 1.5711052417755127 + ], + "finger_dofs": [ + 0.24989815056324005, + -0.0026862036902457476, + -0.009291958063840866, + 0.23920473456382751, + 0.002676768461242318, + 0.005621324758976698, + 0.05543221905827522, + -0.0021108624059706926, + 2.3696734388067853e-06, + 0.29024365544319153, + 0.0041895280592143536, + -0.07217628508806229, + 0.4643438160419464, + 0.0024396933149546385, + -0.0037446364294737577, + 0.08461735397577286, + -0.00048228949890471995, + -0.0012191212736070156, + 0.18504291772842407, + -0.001811338821426034, + -0.0022101604845374823, + 0.10463464260101318, + 0.0017999944975599647, + 0.0006171126151457429, + 0.06003189831972122, + -0.0017817190382629633, + 4.777755748364143e-05, + 0.19098804891109467, + 0.001622330630198121, + -0.009750902652740479, + 0.1159747838973999, + -0.002113967202603817, + -0.0025078319013118744, + 0.0670655220746994, + -0.0018520774319767952, + -0.0009486344060860574, + 0.09256777912378311, + 0.23079253733158112, + -0.11447600275278091, + -0.001700405147857964, + -0.001640727510675788, + -0.08603643625974655, + -0.00028356010443530977, + -0.0002851530152838677, + -0.11372463405132294 + ], + "wrist_pos": [ + 0.2235306203365326, + 0.027639437466859818, + 0.6940264105796814 + ], + "wrist_rot": [ + -0.5010099411010742, + 0.4983627498149872, + 0.5017856359481812, + 0.49883338809013367 + ], + "joint_positions": [ + -3.759210276399472e-09, + -3.3989669412370915e-10 + ] + }, + { + "phase": "approach", + "step": 36, + "virtual_xyz": [ + 0.22711065411567688, + 0.027586227282881737, + 0.6939858198165894 + ], + "wrist_rpy": [ + -1.5683518648147583, + -0.000627248315140605, + 1.570534110069275 + ], + "finger_dofs": [ + 0.2861407697200775, + -0.0035118379164487123, + -0.014199474826455116, + 0.29472047090530396, + 0.003059684531763196, + 0.006620949134230614, + 0.056811898946762085, + -0.0021499679423868656, + 3.3160351904371055e-06, + 0.3060441017150879, + 0.005849909037351608, + -0.07232796400785446, + 0.47892826795578003, + -0.0008421161910519004, + -0.0038546223659068346, + 0.08964991569519043, + -0.0017941556870937347, + -0.0013338130665943027, + 0.17480117082595825, + 0.0019409828819334507, + -0.0010059888008981943, + 0.12114114314317703, + -0.001988279866054654, + 0.0011501461267471313, + 0.058703597635030746, + 0.00026172015350311995, + 0.00015557726146653295, + 0.20504911243915558, + 0.0023051213938742876, + -0.03145059570670128, + 0.1986464262008667, + -0.0031262056436389685, + -0.0032371606212109327, + 0.08242600411176682, + -0.001907464349642396, + -0.0017371223075315356, + 0.09131823480129242, + 0.24311517179012299, + -0.12181702256202698, + -0.0018612210405990481, + -0.001820773701183498, + -0.08497696369886398, + 0.0005607419298030436, + 0.0013672184431925416, + -0.12082727253437042 + ], + "wrist_pos": [ + 0.22711077332496643, + 0.02758621796965599, + 0.6939857602119446 + ], + "wrist_rot": [ + -0.4996107518672943, + 0.49916601181030273, + 0.5007016062736511, + 0.500519871711731 + ], + "joint_positions": [ + -4.503101891373262e-09, + -1.179885189550589e-09 + ] + }, + { + "phase": "approach", + "step": 37, + "virtual_xyz": [ + 0.2305734008550644, + 0.027433427050709724, + 0.6939603686332703 + ], + "wrist_rpy": [ + -1.5681228637695312, + 0.0013627170119434595, + 1.5717893838882446 + ], + "finger_dofs": [ + 0.29478898644447327, + -0.0029490552842617035, + -0.00501928199082613, + 0.41521596908569336, + 0.004876511171460152, + 0.004203740041702986, + 0.06555767357349396, + -0.0019402767065912485, + -5.555888265007525e-07, + 0.3206603527069092, + 0.007602713070809841, + -0.0795011967420578, + 0.4888684153556824, + 0.0030321988742798567, + -0.0035054758191108704, + 0.08483685553073883, + -0.0017535254592075944, + -0.0012416413519531488, + 0.17697985470294952, + 0.0010894465958699584, + -0.004336674232035875, + 0.1295224279165268, + -0.0019336013356223702, + 0.0020346285309642553, + 0.06052729859948158, + 0.000848372292239219, + -0.001827104715630412, + 0.21724608540534973, + 0.0031374641694128513, + -0.05449493229389191, + 0.2252558022737503, + -0.003686973126605153, + -0.0033938854467123747, + 0.08478733152151108, + -0.0019513597944751382, + -0.0018693620804697275, + 0.09259434044361115, + 0.25441741943359375, + -0.13048890233039856, + -0.0018679446075111628, + -0.0016538976924493909, + -0.08612394332885742, + 0.0016509657725691795, + 0.0018494584364816546, + -0.12706124782562256 + ], + "wrist_pos": [ + 0.23057350516319275, + 0.02743341773748398, + 0.6939603090286255 + ], + "wrist_rot": [ + -0.49874183535575867, + 0.4999198019504547, + 0.5005762577056885, + 0.5007596015930176 + ], + "joint_positions": [ + -4.878832893240315e-09, + -3.6211844633982082e-09 + ] + }, + { + "phase": "approach", + "step": 38, + "virtual_xyz": [ + 0.23409096896648407, + 0.02717645838856697, + 0.6938362717628479 + ], + "wrist_rpy": [ + -1.5681798458099365, + 0.008778725750744343, + 1.5721200704574585 + ], + "finger_dofs": [ + 0.2886524796485901, + -0.003983362577855587, + 0.0156730767339468, + 0.4954206645488739, + 0.005585941486060619, + 0.0037946761585772038, + 0.07140768319368362, + -0.0018806335283443332, + -1.4375628779816907e-05, + 0.36959293484687805, + 0.007101626601070166, + -0.07536625862121582, + 0.5861446857452393, + 0.0021326590795069933, + -0.004048006143420935, + 0.08787956833839417, + -0.0016258824616670609, + -0.0015623006038367748, + 0.16031892597675323, + 0.0023716965224593878, + -0.004103329032659531, + 0.14866289496421814, + -0.0024003172293305397, + 0.0015517919091507792, + 0.06016109883785248, + 0.0018727314891293645, + -0.0012680497020483017, + 0.22248613834381104, + 0.004095770884305239, + -0.0818927213549614, + 0.30077406764030457, + -0.005240167956799269, + -0.0042246864177286625, + 0.0966990739107132, + -0.0020160418935120106, + -0.0018832676578313112, + 0.08870291709899902, + 0.26341354846954346, + -0.13846956193447113, + -0.0020625803153961897, + -0.001981844659894705, + -0.08188062161207199, + 0.0018528185319155455, + 0.0019196952925994992, + -0.13538958132266998 + ], + "wrist_pos": [ + 0.23409108817577362, + 0.027176450937986374, + 0.6938362121582031 + ], + "wrist_rot": [ + -0.49681103229522705, + 0.5018669962882996, + 0.4987896978855133, + 0.5025107264518738 + ], + "joint_positions": [ + -3.747175014723325e-09, + -3.850960883511334e-09 + ] + }, + { + "phase": "approach", + "step": 39, + "virtual_xyz": [ + 0.23752355575561523, + 0.026910563930869102, + 0.6938256025314331 + ], + "wrist_rpy": [ + -1.5688378810882568, + 0.009597348980605602, + 1.5726940631866455 + ], + "finger_dofs": [ + 0.2991738021373749, + -0.0038587157614529133, + 0.03088611550629139, + 0.5498485565185547, + 0.00579466437920928, + 0.0034935781732201576, + 0.0745861828327179, + -0.0018481514416635036, + -3.5496581404004246e-05, + 0.34659016132354736, + 0.004500862210988998, + -0.06300482898950577, + 0.6955245733261108, + 0.0023356208112090826, + -0.002489477163180709, + 0.09427338093519211, + -0.0016501749632880092, + -0.0018269858555868268, + 0.171153724193573, + 0.002222570590674877, + -0.0051924376748502254, + 0.15182068943977356, + -0.0020810284186154604, + 0.002026671078056097, + 0.06474588066339493, + 0.0014556865207850933, + -0.0018402147106826305, + 0.2379143089056015, + 0.006521027535200119, + -0.09018730372190475, + 0.3870302140712738, + -0.007096532732248306, + -0.004278760403394699, + 0.1142471581697464, + -0.0021418870892375708, + -0.0019361177692189813, + 0.09188707917928696, + 0.2712821662425995, + -0.14377309381961823, + -0.0015996122965589166, + -0.001782268867827952, + -0.08500345796346664, + 0.0018375357612967491, + 0.001909685437567532, + -0.14024369418621063 + ], + "wrist_pos": [ + 0.2375236600637436, + 0.026910556480288506, + 0.6938255429267883 + ], + "wrist_rot": [ + -0.49662622809410095, + 0.5023775100708008, + 0.4985634982585907, + 0.5024078488349915 + ], + "joint_positions": [ + -3.547447446905494e-09, + -5.927560664531484e-09 + ] + }, + { + "phase": "approach", + "step": 40, + "virtual_xyz": [ + 0.24077410995960236, + 0.02597898617386818, + 0.6938067078590393 + ], + "wrist_rpy": [ + -1.5695655345916748, + 0.01048185396939516, + 1.574028730392456 + ], + "finger_dofs": [ + 0.32317572832107544, + -0.005996823310852051, + 0.0460747554898262, + 0.6026420593261719, + 0.006880677305161953, + 0.004236633889377117, + 0.07585611194372177, + -0.0019120778888463974, + -4.615540092345327e-05, + 0.3143787980079651, + 0.0047302329912781715, + -0.05683457478880882, + 0.8243502974510193, + 0.003149274969473481, + -0.0022688277531415224, + 0.09672877192497253, + -0.0014279960887506604, + -0.0018496096599847078, + 0.16995485126972198, + 0.002485432894900441, + -0.010538238100707531, + 0.15673722326755524, + -0.0022824297193437815, + 0.001886586076579988, + 0.06944671273231506, + 0.0014731634873896837, + -0.0018071617232635617, + 0.24747180938720703, + 0.009251382201910019, + -0.08508819341659546, + 0.4807249903678894, + -0.008237550966441631, + -0.00474894791841507, + 0.133806511759758, + -0.0022569114807993174, + -0.0019668445456773043, + 0.09085648506879807, + 0.275471031665802, + -0.14908355474472046, + -0.001163645414635539, + -0.0020719957537949085, + -0.08322731405496597, + 0.0018356686923652887, + 0.0019298410043120384, + -0.14643494784832 + ], + "wrist_pos": [ + 0.2407742142677307, + 0.025978978723287582, + 0.6938066482543945 + ], + "wrist_rot": [ + -0.49625080823898315, + 0.5031099915504456, + 0.49849390983581543, + 0.5021146535873413 + ], + "joint_positions": [ + -3.4348186517263457e-09, + -7.577760641197528e-09 + ] + }, + { + "phase": "approach", + "step": 41, + "virtual_xyz": [ + 0.24341468513011932, + 0.02383583039045334, + 0.6936799883842468 + ], + "wrist_rpy": [ + -1.5692888498306274, + -0.007685485295951366, + 1.5734797716140747 + ], + "finger_dofs": [ + 0.35150274634361267, + -0.008303995244204998, + 0.05939352884888649, + 0.6609082818031311, + 0.00721984775736928, + 0.0044775465503335, + 0.07745305448770523, + -0.0019290708005428314, + -1.626166340429336e-05, + 0.3208584487438202, + 0.0038250295910984278, + -0.05595395714044571, + 0.9206094741821289, + 0.003084685420617461, + -0.0019158752402290702, + 0.10644923895597458, + -0.001661762478761375, + -0.0018588057719171047, + 0.21490921080112457, + -0.0021705124527215958, + -0.011470145545899868, + 0.12557092308998108, + 0.0024504077155143023, + -0.0015974435955286026, + 0.08387402445077896, + -0.0019668254535645247, + 4.16029342886759e-06, + 0.29820874333381653, + 0.009489166550338268, + -0.08680679649114609, + 0.47942760586738586, + -0.008939895778894424, + -0.00600388552993536, + 0.16017575562000275, + -0.002536584623157978, + 0.001314411754719913, + 0.10123056918382645, + 0.2776864469051361, + -0.14041255414485931, + 0.0014622269663959742, + 0.000529348908457905, + -0.1020064726471901, + 0.0013248361647129059, + -0.00183000136166811, + -0.14064155519008636 + ], + "wrist_pos": [ + 0.24341478943824768, + 0.02383582293987274, + 0.693679928779602 + ], + "wrist_rot": [ + -0.5008738040924072, + 0.4983689785003662, + 0.502961277961731, + 0.49777883291244507 + ], + "joint_positions": [ + -3.7995127044609944e-09, + -2.044706448600664e-08 + ] + }, + { + "phase": "approach", + "step": 42, + "virtual_xyz": [ + 0.24727775156497955, + 0.02368694171309471, + 0.6942178010940552 + ], + "wrist_rpy": [ + -1.5653269290924072, + 0.003734268480911851, + 1.5693546533584595 + ], + "finger_dofs": [ + 0.37614956498146057, + -0.010910588316619396, + 0.08520010858774185, + 0.7015360593795776, + 0.009369445033371449, + 0.004804541822522879, + 0.07968783378601074, + -0.0019486041273921728, + -6.599615517188795e-06, + 0.5226661562919617, + 0.0027631858829408884, + -0.04022805020213127, + 0.7429911494255066, + 0.004397696349769831, + 0.00016220140969380736, + 0.09569304436445236, + -0.001807906897738576, + -0.001849596039392054, + 0.17246371507644653, + 0.0027513145469129086, + 0.00020419609791133553, + 0.17967136204242706, + -0.0027011765632778406, + -0.001873621717095375, + 0.07846146076917648, + 0.0018896376714110374, + 0.0014302752679213881, + 0.2679000496864319, + 0.010450230911374092, + -0.08619848638772964, + 0.6074470281600952, + -0.006262705661356449, + -0.0036523635499179363, + 0.15914392471313477, + -0.002139840042218566, + -0.0019397241994738579, + 0.10022653639316559, + 0.28779178857803345, + -0.1474742889404297, + -0.0008196339476853609, + -0.0021897698752582073, + -0.08780784904956818, + 0.0020001546945422888, + 0.0019824469927698374, + -0.15166030824184418 + ], + "wrist_pos": [ + 0.2472778558731079, + 0.023686934262514114, + 0.6942177414894104 + ], + "wrist_rot": [ + -0.49805358052253723, + 0.49920710921287537, + 0.5000714063644409, + 0.5026562809944153 + ], + "joint_positions": [ + -4.485591897918084e-09, + -6.7199668052353445e-09 + ] + }, + { + "phase": "approach", + "step": 43, + "virtual_xyz": [ + 0.25096169114112854, + 0.024892739951610565, + 0.6941810846328735 + ], + "wrist_rpy": [ + -1.5626142024993896, + 0.016489114612340927, + 1.572291612625122 + ], + "finger_dofs": [ + 0.43032312393188477, + -0.011669409461319447, + 0.09150926768779755, + 0.7216500043869019, + 0.0064615667797625065, + 0.004458241164684296, + 0.08006031811237335, + -0.0019229943864047527, + -1.4648708202003036e-06, + 0.6370283961296082, + 0.003813075600191951, + -0.038247790187597275, + 0.6181713342666626, + 0.0041214521043002605, + -0.002206048695370555, + 0.0891217365860939, + -0.0017912137554958463, + -0.001893485663458705, + 0.15912601351737976, + 0.0028837125282734632, + -0.011471124365925789, + 0.20480859279632568, + -0.002684954321011901, + 0.0022175670601427555, + 0.07744892686605453, + 0.0018680667271837592, + -0.0018982726614922285, + 0.26904699206352234, + 0.0168385598808527, + -0.1064375787973404, + 0.6988193392753601, + -0.009740297682583332, + -0.004639835562556982, + 0.16128435730934143, + -0.0024028485640883446, + -0.0021648576948791742, + 0.10283280909061432, + 0.30534589290618896, + -0.16939674317836761, + -0.0023530691396445036, + -0.0023609299678355455, + -0.07572023570537567, + 0.0020207122433930635, + 0.0020878221839666367, + -0.16563336551189423 + ], + "wrist_pos": [ + 0.2509617805480957, + 0.024892732501029968, + 0.6941810250282288 + ], + "wrist_rot": [ + -0.49341881275177, + 0.5024412870407104, + 0.49829715490341187, + 0.5057573318481445 + ], + "joint_positions": [ + -5.965518301564998e-09, + -7.533560442141152e-10 + ] + }, + { + "phase": "approach", + "step": 44, + "virtual_xyz": [ + 0.2542199194431305, + 0.025741709396243095, + 0.6940216422080994 + ], + "wrist_rpy": [ + -1.5650969743728638, + 0.02311059832572937, + 1.5745574235916138 + ], + "finger_dofs": [ + 0.5201219916343689, + -0.010642142035067081, + 0.10073347389698029, + 0.6886498332023621, + 0.0067809331230819225, + 0.004288770258426666, + 0.0813588798046112, + -0.001907604862935841, + -5.035587673773989e-05, + 0.6692945957183838, + 0.0033388554584234953, + -0.03850851580500603, + 0.6373788714408875, + 0.003845834406092763, + -0.0022561668884009123, + 0.0752258151769638, + 0.0003681983216665685, + -0.0019750073552131653, + 0.17164945602416992, + 0.002529748482629657, + -0.01267266646027565, + 0.2063196748495102, + -0.002416403265669942, + 0.001977679319679737, + 0.07992836087942123, + 0.0017465620767325163, + -0.0018243438098579645, + 0.2950729429721832, + 0.016973568126559258, + -0.12010140717029572, + 0.7527562379837036, + -0.009235645644366741, + -0.004271178040653467, + 0.1684282273054123, + -0.0023443896789103746, + -0.0020716977305710316, + 0.11090318858623505, + 0.3099212944507599, + -0.1787005364894867, + 0.0004980461671948433, + -0.0022982752416282892, + -0.07067481428384781, + 0.002123384503647685, + 0.001967346528545022, + -0.17376109957695007 + ], + "wrist_pos": [ + 0.25422000885009766, + 0.0257417019456625, + 0.6940215826034546 + ], + "wrist_rot": [ + -0.4917965233325958, + 0.5052593946456909, + 0.49658116698265076, + 0.5062175393104553 + ], + "joint_positions": [ + -9.175593618238054e-09, + -1.4781104118455346e-09 + ] + }, + { + "phase": "approach", + "step": 45, + "virtual_xyz": [ + 0.2573555111885071, + 0.02658781222999096, + 0.6939789056777954 + ], + "wrist_rpy": [ + -1.5695853233337402, + 0.0325925350189209, + 1.5743112564086914 + ], + "finger_dofs": [ + 0.6184778809547424, + -0.010071578435599804, + 0.10871539264917374, + 0.6434472799301147, + 0.007126845885068178, + 0.004594824276864529, + 0.08228535950183868, + -0.0019312674412503839, + -9.680532821221277e-05, + 0.6847374439239502, + -0.0020653405226767063, + -0.0416557602584362, + 0.7929648756980896, + -0.001812982140108943, + 0.0024249153211712837, + 0.07903672009706497, + 0.0018222469370812178, + -0.0020433571189641953, + 0.16839200258255005, + 0.0026852330192923546, + -0.0018822891870513558, + 0.20917902886867523, + -0.002606278983876109, + -0.0008904543938115239, + 0.0796193853020668, + 0.0018229451961815357, + -0.00025266187731176615, + 0.29992979764938354, + 0.01866323873400688, + -0.11863340437412262, + 0.8236108422279358, + -0.010008436627686024, + -0.004166827071458101, + 0.1666567325592041, + -0.0022824788466095924, + -0.0020626375917345285, + 0.15227025747299194, + 0.2978857457637787, + -0.18238474428653717, + 0.002299495041370392, + -0.002381103578954935, + -0.05337141454219818, + 0.0023657314013689756, + 0.001880318857729435, + -0.18138334155082703 + ], + "wrist_pos": [ + 0.25735560059547424, + 0.026587804779410362, + 0.6939788460731506 + ], + "wrist_rot": [ + -0.4905850291252136, + 0.5086463689804077, + 0.49298614263534546, + 0.5075134038925171 + ], + "joint_positions": [ + -1.1631795082678309e-08, + -4.820093213453447e-10 + ] + }, + { + "phase": "approach", + "step": 46, + "virtual_xyz": [ + 0.2603186070919037, + 0.027018774300813675, + 0.6939551830291748 + ], + "wrist_rpy": [ + -1.5694384574890137, + 0.0402243509888649, + 1.5737663507461548 + ], + "finger_dofs": [ + 0.6978895664215088, + -0.00865162443369627, + 0.11346298456192017, + 0.6063959002494812, + 0.006109157577157021, + 0.004351758863776922, + 0.08412589877843857, + -0.0019085677340626717, + -0.00013329635839909315, + 0.717352569103241, + -0.0025024074129760265, + -0.03529559075832367, + 0.8180521130561829, + 0.0005762798828072846, + 0.002655941294506192, + 0.0866549089550972, + 0.0018043805612251163, + -0.0020467413123697042, + 0.1633031666278839, + 0.0027311835438013077, + 0.0009589284309186041, + 0.21500098705291748, + -0.0027294575702399015, + 0.0016598046058788896, + 0.07946649938821793, + 0.0018189471447840333, + -0.0004057985788676888, + 0.36203834414482117, + 0.01401155162602663, + -0.12959137558937073, + 0.8480836153030396, + -0.009151676669716835, + -0.0035698164720088243, + 0.16314657032489777, + -0.002160186180844903, + -0.0021358109079301357, + 0.18746617436408997, + 0.30118030309677124, + -0.1918042004108429, + 0.0038145871367305517, + -0.0022945392411202192, + -0.04282818362116814, + 0.0030055304523557425, + 0.0019314712844789028, + -0.1882970780134201 + ], + "wrist_pos": [ + 0.26031869649887085, + 0.027018766850233078, + 0.69395512342453 + ], + "wrist_rot": [ + -0.48873987793922424, + 0.5103479623794556, + 0.49094676971435547, + 0.5095582008361816 + ], + "joint_positions": [ + -1.431630458625932e-08, + -1.5493382132802935e-09 + ] + }, + { + "phase": "approach", + "step": 47, + "virtual_xyz": [ + 0.2631778419017792, + 0.028201963752508163, + 0.6938760280609131 + ], + "wrist_rpy": [ + -1.5677754878997803, + 0.049595121294260025, + 1.571736216545105 + ], + "finger_dofs": [ + 0.7639469504356384, + -0.007138089742511511, + 0.11286721378564835, + 0.5813054442405701, + 0.005571022164076567, + 0.0040139625780284405, + 0.08574820309877396, + -0.0018800449324771762, + -0.00016101880464702845, + 0.7764925360679626, + -0.003862489713355899, + -0.02935664728283882, + 0.8053420186042786, + -0.0021326446440070868, + 0.0025299587287008762, + 0.08998583257198334, + 0.0018025118624791503, + -0.0020722521003335714, + 0.16726483404636383, + 0.0027113710530102253, + 0.00683210464194417, + 0.2220546007156372, + -0.0028401941526681185, + -0.001849923748522997, + 0.08014880865812302, + 0.0018101308960467577, + 0.0010436172597110271, + 0.48804476857185364, + 0.012379800900816917, + -0.12235704809427261, + 0.7911174893379211, + -0.010336976498365402, + -0.0033709220588207245, + 0.13755613565444946, + -0.001973165897652507, + -0.0021160587202757597, + 0.21762557327747345, + 0.30729639530181885, + -0.19807323813438416, + 0.0038440776988863945, + -0.002479513641446829, + -0.03243855759501457, + 0.003058010945096612, + 0.0019233616767451167, + -0.1950494945049286 + ], + "wrist_pos": [ + 0.26317793130874634, + 0.028201954439282417, + 0.6938759684562683 + ], + "wrist_rot": [ + -0.48643413186073303, + 0.5117353796958923, + 0.4884629547595978, + 0.512749969959259 + ], + "joint_positions": [ + -1.8195313700175575e-08, + -2.4024782163678537e-09 + ] + }, + { + "phase": "approach", + "step": 48, + "virtual_xyz": [ + 0.2659454047679901, + 0.029018988832831383, + 0.6938318610191345 + ], + "wrist_rpy": [ + -1.5684218406677246, + 0.06017044931650162, + 1.5702275037765503 + ], + "finger_dofs": [ + 0.8413548469543457, + -0.005684312898665667, + 0.10182559490203857, + 0.5411630868911743, + 0.005637000780552626, + 0.003876645816490054, + 0.08823911845684052, + -0.0018649401608854532, + -0.0002457421796862036, + 0.8249461054801941, + -0.0031729477923363447, + -0.028546368703246117, + 0.8022798299789429, + -0.0021287603303790092, + 0.002620647195726633, + 0.07936796545982361, + 0.0018625060329213738, + -0.0020270568784326315, + 0.16674891114234924, + 0.0028955803718417883, + 0.01133724208921194, + 0.23324589431285858, + -0.0030464455485343933, + -0.0020717703737318516, + 0.08246821910142899, + 0.0017840657383203506, + 0.0018199881305918097, + 0.5719587206840515, + 0.010886365547776222, + -0.11108972877264023, + 0.7694544792175293, + -0.008180465549230576, + -0.003000036347657442, + 0.11642958223819733, + -0.0010503748198971152, + -0.0021707594860345125, + 0.2379632294178009, + 0.30838072299957275, + -0.202952042222023, + 0.003936851862818003, + -0.0025654099881649017, + -0.01912427507340908, + 0.00323664047755301, + 0.0019062516512349248, + -0.20281291007995605 + ], + "wrist_pos": [ + 0.2659454941749573, + 0.029018979519605637, + 0.6938318014144897 + ], + "wrist_rot": [ + -0.4842680096626282, + 0.5141004323959351, + 0.48519763350486755, + 0.5155273079872131 + ], + "joint_positions": [ + -2.2725602732975858e-08, + -2.410998956037247e-09 + ] + }, + { + "phase": "approach", + "step": 49, + "virtual_xyz": [ + 0.26860949397087097, + 0.029720382764935493, + 0.6939430832862854 + ], + "wrist_rpy": [ + -1.5698896646499634, + 0.07068848609924316, + 1.5702465772628784 + ], + "finger_dofs": [ + 0.8908557295799255, + -0.005223389249294996, + 0.0738779678940773, + 0.5266656279563904, + 0.005011263303458691, + 0.0037632102612406015, + 0.0903305858373642, + -0.0018526359926909208, + -0.00013499974738806486, + 0.8714484572410583, + -0.003129285294562578, + -0.023389765992760658, + 0.792668879032135, + -0.0020254715345799923, + 0.0028206519782543182, + 0.06313599646091461, + 0.0019107598345726728, + -0.0020469175651669502, + 0.17169241607189178, + 0.0035580103285610676, + 0.0007535856566391885, + 0.2572478652000427, + -0.0031518745236098766, + -0.002279673470184207, + 0.08716315776109695, + 0.0009371114429086447, + 0.0014439697843044996, + 0.6126812696456909, + 0.006715257186442614, + -0.100932277739048, + 0.7981995344161987, + -0.005676736123859882, + 0.00031272353953681886, + 0.09589450061321259, + 0.001917217392474413, + -0.002303056651726365, + 0.25048989057540894, + 0.31164154410362244, + -0.20972840487957, + 0.0044648232869803905, + -0.002399544697254896, + -0.002702743513509631, + 0.0037057590670883656, + 0.0019861634355038404, + -0.21094651520252228 + ], + "wrist_pos": [ + 0.26860958337783813, + 0.029720373451709747, + 0.6939430236816406 + ], + "wrist_rot": [ + -0.481926828622818, + 0.5170050859451294, + 0.48211148381233215, + 0.5177072286605835 + ], + "joint_positions": [ + -2.693895062577667e-08, + -2.235151397300683e-09 + ] + }, + { + "phase": "approach", + "step": 50, + "virtual_xyz": [ + 0.2707403302192688, + 0.030163299292325974, + 0.6938994526863098 + ], + "wrist_rpy": [ + -1.5715473890304565, + 0.07962990552186966, + 1.5702193975448608 + ], + "finger_dofs": [ + 0.9205958247184753, + -0.004888837691396475, + 0.052179545164108276, + 0.526573121547699, + 0.004267026204615831, + 0.003581260796636343, + 0.09158412367105484, + -0.0018385848961770535, + -5.364319804357365e-05, + 0.8957120180130005, + -0.003220506012439728, + -0.02133435383439064, + 0.811627209186554, + -0.0022812504321336746, + 0.002817090367898345, + 0.05105491355061531, + 0.0019625730346888304, + -0.0020800065249204636, + 0.17893873155117035, + 0.004513753578066826, + -0.015167240053415298, + 0.2850792109966278, + -0.003607458434998989, + -0.002956863259896636, + 0.09136704355478287, + -0.0011070158798247576, + 0.0018154793651774526, + 0.6503694653511047, + 0.003436287399381399, + -0.09941763430833817, + 0.8128058314323425, + -0.005323612131178379, + 0.002413817448541522, + 0.06522330641746521, + 0.002110665664076805, + -0.002330525079742074, + 0.252463161945343, + 0.3177298903465271, + -0.21445345878601074, + 0.0041771032847464085, + -0.002733435481786728, + 0.007674555294215679, + 0.003459898056462407, + 0.0021371101029217243, + -0.2171269953250885 + ], + "wrist_pos": [ + 0.27074041962623596, + 0.030163291841745377, + 0.693899393081665 + ], + "wrist_rot": [ + -0.48004642128944397, + 0.5195475220680237, + 0.47935670614242554, + 0.5194640159606934 + ], + "joint_positions": [ + -3.375753365730816e-08, + -9.093529484971441e-09 + ] + }, + { + "phase": "approach", + "step": 51, + "virtual_xyz": [ + 0.27256539463996887, + 0.030618900433182716, + 0.6937959790229797 + ], + "wrist_rpy": [ + -1.5725992918014526, + 0.09285484254360199, + 1.5673677921295166 + ], + "finger_dofs": [ + 0.9297152757644653, + -0.004218623973429203, + 0.0333884134888649, + 0.5325677990913391, + 0.0037824795581400394, + 0.003294185968115926, + 0.0929458811879158, + -0.0018175297882407904, + -0.00013761014270130545, + 0.9455294609069824, + -0.0039801825769245625, + -0.02238532342016697, + 0.7882715463638306, + -0.0015853579388931394, + 0.0032579684630036354, + 0.040477264672517776, + 0.00191922252997756, + -0.002080263802781701, + 0.15648281574249268, + 0.007428500335663557, + -0.0169599000364542, + 0.30585408210754395, + -0.004820882808417082, + -0.005563598126173019, + 0.10307993739843369, + -0.0019222848350182176, + 0.002090951194986701, + 0.6881109476089478, + 0.0061875805258750916, + -0.07603377103805542, + 0.785681962966919, + -0.005208048038184643, + 0.0010038992622867227, + 0.04128799960017204, + 0.0021963792387396097, + -0.002147783525288105, + 0.24727189540863037, + 0.32510846853256226, + -0.21947170794010162, + 0.0040760342963039875, + -0.002837306819856167, + 0.017482254654169083, + 0.0034582277294248343, + 0.0021905500907450914, + -0.22398939728736877 + ], + "wrist_pos": [ + 0.27256548404693604, + 0.03061889111995697, + 0.693795919418335 + ], + "wrist_rot": [ + -0.4776228368282318, + 0.5222775936126709, + 0.4748886227607727, + 0.5230517983436584 + ], + "joint_positions": [ + -3.0887175483940155e-08, + -1.98404226381399e-08 + ] + }, + { + "phase": "approach", + "step": 52, + "virtual_xyz": [ + 0.27415430545806885, + 0.03135642409324646, + 0.6936516165733337 + ], + "wrist_rpy": [ + -1.572549819946289, + 0.1057303175330162, + 1.5648540258407593 + ], + "finger_dofs": [ + 0.9372261762619019, + -0.0029302076436579227, + 0.007138511165976524, + 0.5335615873336792, + 0.005379049107432365, + 0.003011150984093547, + 0.1009308397769928, + -0.0017803279915824533, + -0.0004985835985280573, + 0.9948937892913818, + -0.0023783647920936346, + -0.044116079807281494, + 0.7420450448989868, + 0.003745442721992731, + 0.004004180431365967, + 0.016263805329799652, + 0.0018496065167710185, + -0.0020641060546040535, + 0.1407751590013504, + 0.009562857449054718, + -0.021945564076304436, + 0.330922931432724, + -0.0044838725589215755, + -0.00558878481388092, + 0.1207597628235817, + -0.001994346035644412, + 0.0020295537542551756, + 0.6922386884689331, + 0.00610312819480896, + -0.0677022933959961, + 0.827770471572876, + -0.0046386634930968285, + 0.0018403239082545042, + 0.03680768981575966, + 0.0022052431013435125, + -0.002289477037265897, + 0.24954867362976074, + 0.32546162605285645, + -0.21257749199867249, + -0.001627692487090826, + -0.003841476747766137, + 0.015128010883927345, + 0.002624780172482133, + 0.0024372355546802282, + -0.230177104473114 + ], + "wrist_pos": [ + 0.274154394865036, + 0.031356412917375565, + 0.693651556968689 + ], + "wrist_rot": [ + -0.47490304708480835, + 0.5247272253036499, + 0.47085726261138916, + 0.5267084240913391 + ], + "joint_positions": [ + -3.4293456963041535e-08, + -3.090125133553556e-08 + ] + }, + { + "phase": "approach", + "step": 53, + "virtual_xyz": [ + 0.27559298276901245, + 0.03177311643958092, + 0.6935985088348389 + ], + "wrist_rpy": [ + -1.572461485862732, + 0.11472654342651367, + 1.562572956085205 + ], + "finger_dofs": [ + 0.9318972229957581, + -0.001830104854889214, + -0.015493014827370644, + 0.5737295746803284, + 0.004108609165996313, + 0.002904917811974883, + 0.10325665771961212, + -0.0014940884429961443, + -0.0006257290951907635, + 1.052127480506897, + -0.003165438072755933, + -0.034888993948698044, + 0.661991536617279, + 0.003235305892303586, + 0.0036897894460707903, + -0.0026252721436321735, + 0.0019217424560338259, + -0.0020707561634480953, + 0.13321943581104279, + 0.010543768294155598, + -0.02685297094285488, + 0.3551332950592041, + -0.005343036726117134, + -0.007198577746748924, + 0.14393672347068787, + -0.0020782588981091976, + 0.0021302574314177036, + 0.7258847951889038, + 0.002366958651691675, + -0.06136135384440422, + 0.8239313960075378, + -0.004290288779884577, + 0.002447445411235094, + 0.01203541737049818, + 0.002342379419133067, + -0.0022406140342354774, + 0.24963411688804626, + 0.3319319486618042, + -0.22244830429553986, + 0.005304835736751556, + -0.002919744933024049, + 0.0298150684684515, + 0.0038714096881449223, + 0.00225449469871819, + -0.23485326766967773 + ], + "wrist_pos": [ + 0.2755930721759796, + 0.03177310526371002, + 0.6935984492301941 + ], + "wrist_rot": [ + -0.47311899065971375, + 0.5262940526008606, + 0.46789923310279846, + 0.5293800830841064 + ], + "joint_positions": [ + -3.704314011088172e-08, + -4.198291847501423e-08 + ] + }, + { + "phase": "approach", + "step": 54, + "virtual_xyz": [ + 0.27682018280029297, + 0.031714994460344315, + 0.6937301754951477 + ], + "wrist_rpy": [ + -1.5737475156784058, + 0.12280524522066116, + 1.562445044517517 + ], + "finger_dofs": [ + 0.927406370639801, + 0.002062293002381921, + -0.03163798898458481, + 0.6015534400939941, + 0.003404938383027911, + 0.0027903325390070677, + 0.10312800109386444, + -0.0012479429133236408, + -0.00039643532363697886, + 1.0940747261047363, + -0.0021446284372359514, + -0.04561794921755791, + 0.6142072677612305, + -0.0012984185013920069, + 0.003353337524458766, + -0.00288420170545578, + 0.0020838743075728416, + -0.0020501220133155584, + 0.11647997796535492, + 0.012538522481918335, + -0.03244314715266228, + 0.37933656573295593, + -0.0064782616682350636, + -0.00884998869150877, + 0.16533786058425903, + -0.0021645782981067896, + 0.0022774457465857267, + 0.7232258319854736, + 0.004272259771823883, + -0.06208110600709915, + 0.8473094701766968, + -0.004550664685666561, + 0.00178694783244282, + 0.00408569723367691, + 0.002361730672419071, + -0.002272167708724737, + 0.2450883984565735, + 0.3371390998363495, + -0.22605665028095245, + 0.001660939073190093, + -0.003851069835945964, + 0.03724314644932747, + 0.0028228459414094687, + 0.0025539195630699396, + -0.2392215132713318 + ], + "wrist_pos": [ + 0.2768203020095825, + 0.03171498328447342, + 0.6937301158905029 + ], + "wrist_rot": [ + -0.471367746591568, + 0.5284664630889893, + 0.46538034081459045, + 0.5309959053993225 + ], + "joint_positions": [ + -4.294701838603032e-08, + -5.129995983566005e-08 + ] + }, + { + "phase": "approach", + "step": 55, + "virtual_xyz": [ + 0.2780422866344452, + 0.031963590532541275, + 0.6937665343284607 + ], + "wrist_rpy": [ + -1.575830340385437, + 0.13254697620868683, + 1.5622305870056152 + ], + "finger_dofs": [ + 0.9238497018814087, + 0.002961057936772704, + -0.042203936725854874, + 0.6221468448638916, + 0.0025459101889282465, + 0.002146066166460514, + 0.10299430787563324, + -0.0011194752296432853, + -9.883839084068313e-05, + 1.1153894662857056, + -0.0023624796885997057, + -0.04686010256409645, + 0.6072108745574951, + -0.00014560854469891638, + 0.002997822593897581, + -0.0032640534918755293, + 0.002173579065129161, + -0.002089602639898658, + 0.08844298124313354, + 0.014473620802164078, + -0.03406902402639389, + 0.3983580768108368, + -0.00713041378185153, + -0.009769843891263008, + 0.18009522557258606, + -0.002300576539710164, + 0.0022892479319125414, + 0.7425386905670166, + 0.0016839562449604273, + -0.05428272858262062, + 0.858952522277832, + -0.004166815429925919, + 0.00282218586653471, + -0.0026051453314721584, + 0.0024726262781769037, + -0.00237573916092515, + 0.24164770543575287, + 0.3390137851238251, + -0.21808765828609467, + -0.0037921827752143145, + -0.004392261151224375, + 0.032005682587623596, + 0.002242789603769779, + 0.002783361589536071, + -0.24457231163978577 + ], + "wrist_pos": [ + 0.27804237604141235, + 0.03196357935667038, + 0.6937664747238159 + ], + "wrist_rot": [ + -0.4694068729877472, + 0.5311797261238098, + 0.4621715843677521, + 0.5328251123428345 + ], + "joint_positions": [ + -4.792233099237819e-08, + -5.9471570779123795e-08 + ] + }, + { + "phase": "approach", + "step": 56, + "virtual_xyz": [ + 0.2791043817996979, + 0.03243667632341385, + 0.6937047839164734 + ], + "wrist_rpy": [ + -1.5779939889907837, + 0.14033056795597076, + 1.5615942478179932 + ], + "finger_dofs": [ + 0.919235348701477, + 0.003085911041125655, + -0.04342327266931534, + 0.6466578245162964, + 0.0027099030558019876, + 0.002383645623922348, + 0.10352715849876404, + -0.00043045723577961326, + -9.857671102508903e-06, + 1.1461005210876465, + -0.001954491948708892, + -0.055897243320941925, + 0.5783500075340271, + -0.0009476809646002948, + 0.002938423538580537, + -0.003830851288512349, + 0.0022399795707315207, + -0.0021128386724740267, + 0.09149393439292908, + 0.014730644412338734, + -0.03352494165301323, + 0.4381200969219208, + -0.008396009914577007, + -0.0086797084659338, + 0.21460752189159393, + -0.00229511852376163, + 0.002330718096345663, + 0.7466927766799927, + 0.002777040470391512, + -0.046722956001758575, + 0.879788875579834, + -0.0032857998739928007, + 0.0027588708326220512, + -0.002905419562011957, + 0.0025168752763420343, + -0.0024504370521754026, + 0.2395295947790146, + 0.3471614122390747, + -0.23902077972888947, + 0.003345638979226351, + -0.0034014296252280474, + 0.06424805521965027, + 0.003932594321668148, + 0.002540498273447156, + -0.24792174994945526 + ], + "wrist_pos": [ + 0.27910447120666504, + 0.032436665147542953, + 0.6937047243118286 + ], + "wrist_rot": [ + -0.4680928587913513, + 0.5333406329154968, + 0.45933839678764343, + 0.5342704653739929 + ], + "joint_positions": [ + -5.120303114836133e-08, + -6.778872574386696e-08 + ] + }, + { + "phase": "approach", + "step": 57, + "virtual_xyz": [ + 0.2800542712211609, + 0.03295040503144264, + 0.6935755610466003 + ], + "wrist_rpy": [ + -1.5785759687423706, + 0.14952227473258972, + 1.5594234466552734 + ], + "finger_dofs": [ + 0.9233180284500122, + 0.0022524839732795954, + -0.042040713131427765, + 0.6499775052070618, + 0.0023142448626458645, + 0.002011811127886176, + 0.10408151894807816, + -7.78763114794856e-06, + -0.00019816083658952266, + 1.17676842212677, + 0.002069327048957348, + -0.07339416444301605, + 0.5561025142669678, + -0.0021856275852769613, + 0.002959229052066803, + -0.004221470560878515, + 0.002247910015285015, + -0.002062898827716708, + 0.08816197514533997, + 0.01489055436104536, + -0.025309013202786446, + 0.4626072943210602, + -0.008835365995764732, + -0.008590759709477425, + 0.23387515544891357, + -0.0023118294775485992, + 0.0024106791242957115, + 0.7670263051986694, + -8.788853301666677e-05, + -0.032096635550260544, + 0.8658623695373535, + -0.003469770774245262, + 0.0026560002006590366, + -0.003825959051027894, + 0.0025573428720235825, + -0.0023842952214181423, + 0.23734070360660553, + 0.35590696334838867, + -0.245865136384964, + 0.00232417369261384, + -0.003924462478607893, + 0.07896009832620621, + 0.0034720576368272305, + 0.0027211662381887436, + -0.24768120050430298 + ], + "wrist_pos": [ + 0.28005436062812805, + 0.03295039385557175, + 0.6935755014419556 + ], + "wrist_rot": [ + -0.46638917922973633, + 0.5350955724716187, + 0.45612457394599915, + 0.536753237247467 + ], + "joint_positions": [ + -5.4047305297899584e-08, + -7.515735944707558e-08 + ] + }, + { + "phase": "approach", + "step": 58, + "virtual_xyz": [ + 0.28086552023887634, + 0.03293200209736824, + 0.6935519576072693 + ], + "wrist_rpy": [ + -1.5778251886367798, + 0.15611855685710907, + 1.556962013244629 + ], + "finger_dofs": [ + 0.9294458031654358, + 0.0023042589891701937, + -0.03843967244029045, + 0.6468015313148499, + 0.0026553638745099306, + 0.002464770572260022, + 0.10470504313707352, + -0.00017362050130032003, + -0.00032400834606960416, + 1.241285800933838, + -0.0028368020430207253, + -0.0661756619811058, + 0.5025424957275391, + -0.002080619102343917, + 0.0030113626271486282, + -0.004419440403580666, + 0.0022566737607121468, + -0.0020161010324954987, + 0.08159389346837997, + 0.01660454459488392, + -0.01790689490735531, + 0.4846402406692505, + -0.009777276776731014, + -0.009525139816105366, + 0.2573074400424957, + -0.0023872775491327047, + 0.002520359121263027, + 0.7628211975097656, + -0.000904065789654851, + -0.02258988469839096, + 0.8827613592147827, + -0.0034265262074768543, + 0.002634768607094884, + -0.0038491543382406235, + 0.0025554397143423557, + -0.0023925015702843666, + 0.23611675202846527, + 0.35918858647346497, + -0.24260294437408447, + -0.001090001780539751, + -0.004377495031803846, + 0.07533092796802521, + 0.002912265947088599, + 0.002917382400482893, + -0.2491898238658905 + ], + "wrist_pos": [ + 0.2808656096458435, + 0.032931990921497345, + 0.6935518980026245 + ], + "wrist_rot": [ + -0.46509137749671936, + 0.5358746647834778, + 0.4538780748844147, + 0.5390018820762634 + ], + "joint_positions": [ + -5.7824941279704944e-08, + -8.09207136853729e-08 + ] + }, + { + "phase": "approach", + "step": 59, + "virtual_xyz": [ + 0.28153321146965027, + 0.03309975191950798, + 0.6935039162635803 + ], + "wrist_rpy": [ + -1.5760856866836548, + 0.15720540285110474, + 1.5557177066802979 + ], + "finger_dofs": [ + 0.9364424347877502, + 0.0023658170830458403, + -0.024402499198913574, + 0.6456791758537292, + 0.002272573299705982, + 0.0004987515276297927, + 0.10583323240280151, + 0.00037826900370419025, + -0.0004993071197532117, + 1.2690448760986328, + -0.002783080330118537, + -0.0627276599407196, + 0.45966222882270813, + -0.0020263243932276964, + 0.0028736034873872995, + -0.0033219698816537857, + 0.002198863308876753, + -0.0019839219748973846, + 0.09060054272413254, + 0.017109345644712448, + -0.01960640959441662, + 0.5048856735229492, + -0.010282067582011223, + -0.009103008545935154, + 0.275025337934494, + -0.002384398365393281, + 0.002506251446902752, + 0.759549617767334, + 0.0019790264777839184, + -0.02070682682096958, + 0.9103430509567261, + -0.0029838401824235916, + 0.0027939248830080032, + -0.0031121850479394197, + 0.0025301624555140734, + -0.0024313577450811863, + 0.24606771767139435, + 0.362102210521698, + -0.23830761015415192, + -0.003240837249904871, + -0.004549653735011816, + 0.06487999856472015, + 0.002631795359775424, + 0.002945576561614871, + -0.2513654828071594 + ], + "wrist_pos": [ + 0.28153330087661743, + 0.033099740743637085, + 0.6935038566589355 + ], + "wrist_rot": [ + -0.4646657109260559, + 0.535441517829895, + 0.45371365547180176, + 0.539936900138855 + ], + "joint_positions": [ + -6.254571616182147e-08, + -8.667836226550207e-08 + ] + }, + { + "phase": "approach", + "step": 60, + "virtual_xyz": [ + 0.2822912335395813, + 0.03216269984841347, + 0.6937680840492249 + ], + "wrist_rpy": [ + -1.5777127742767334, + 0.16364963352680206, + 1.5565153360366821 + ], + "finger_dofs": [ + 0.9670189619064331, + -0.002974442206323147, + -0.014442921616137028, + 0.605779230594635, + 0.002627684734761715, + 0.0026900956872850657, + 0.10272695869207382, + -0.0004996231873519719, + 0.0001827896194299683, + 1.277404546737671, + -9.635859169065952e-05, + -0.06815122812986374, + 0.4724205732345581, + -0.002157822484150529, + 0.002610133495181799, + -0.003905203891918063, + 0.002234116429463029, + -0.0018555674469098449, + 0.05680789425969124, + 0.018666302785277367, + -0.031365588307380676, + 0.5190903544425964, + -0.010432333685457706, + -0.00896498654037714, + 0.2906622886657715, + -0.002447951352223754, + 0.002602744149044156, + 0.7531325221061707, + -0.002109685679897666, + -0.024813508614897728, + 0.9344340562820435, + -0.0026425577234476805, + 0.0031067451927810907, + -0.0029496303759515285, + 0.0025552331935614347, + -0.0025168878491967916, + 0.2297208160161972, + 0.3643028140068054, + -0.2532321810722351, + 0.002418186515569687, + -0.0036640441976487637, + 0.08566971868276596, + 0.0038878873456269503, + 0.002753357170149684, + -0.25517603754997253 + ], + "wrist_pos": [ + 0.28229132294654846, + 0.03216268867254257, + 0.6937680244445801 + ], + "wrist_rot": [ + -0.46317175030708313, + 0.5374789834022522, + 0.4517425298690796, + 0.5408482551574707 + ], + "joint_positions": [ + -6.658844853291157e-08, + -8.667332451750553e-08 + ] + }, + { + "phase": "approach", + "step": 61, + "virtual_xyz": [ + 0.2850174903869629, + 0.020708387717604637, + 0.6943142414093018 + ], + "wrist_rpy": [ + -1.5784229040145874, + 0.16509577631950378, + 1.5566284656524658 + ], + "finger_dofs": [ + 1.043215274810791, + 0.005856161471456289, + -0.051379065960645676, + 0.5889713764190674, + 0.002288504969328642, + 0.0019616938661783934, + 0.10148598253726959, + -0.0014571058563888073, + 0.001071021775715053, + 1.3321115970611572, + -0.00436463113874197, + -0.06315124779939651, + 0.5239633321762085, + -0.002023770473897457, + 0.002817005617544055, + -0.006626287940889597, + 0.0025536504108458757, + -0.0022101576905697584, + -0.29899242520332336, + 0.04740593582391739, + -0.1610167771577835, + 0.6360728740692139, + -0.019676651805639267, + -0.024473639205098152, + 0.46410900354385376, + -0.003467440139502287, + 0.0035608047619462013, + 0.8261098265647888, + -0.015009439550340176, + -0.024484509602189064, + 1.0711638927459717, + 0.0019751344807446003, + 0.0028700162656605244, + -0.004123609978705645, + 0.0025546203833073378, + -0.0027905600145459175, + 0.10271038860082626, + 0.35965922474861145, + -0.2549988031387329, + -0.006812083534896374, + -0.005566978361457586, + 0.09402415156364441, + 0.0031520610209554434, + 0.0032080463133752346, + -0.25529396533966064 + ], + "wrist_pos": [ + 0.28501757979393005, + 0.02070838026702404, + 0.694314181804657 + ], + "wrist_rot": [ + -0.46294718980789185, + 0.5379974842071533, + 0.4511885643005371, + 0.5409873723983765 + ], + "joint_positions": [ + -1.0197314281867875e-07, + -2.4195015768668782e-08 + ] + }, + { + "phase": "approach", + "step": 62, + "virtual_xyz": [ + 0.2857794463634491, + 0.021600274369120598, + 0.6942342519760132 + ], + "wrist_rpy": [ + -1.5783705711364746, + 0.18696680665016174, + 1.5551100969314575 + ], + "finger_dofs": [ + 1.0522884130477905, + 0.003344736760482192, + -0.056046757847070694, + 0.5350488424301147, + 0.0028532312717288733, + 0.002212140941992402, + 0.10377027094364166, + -0.0009792682249099016, + 0.001484832027927041, + 1.2557551860809326, + -0.005003803409636021, + -0.03133007884025574, + 0.6305383443832397, + -0.0020642471499741077, + 0.0028558981139212847, + -0.007746827322989702, + 0.0025455206632614136, + -0.002114858478307724, + -0.33866217732429504, + 0.04348089173436165, + -0.19717420637607574, + 0.5767988562583923, + -0.016082122921943665, + -0.02499344013631344, + 0.5585442185401917, + -0.0026453472673892975, + 0.003754467936232686, + 0.8478384613990784, + -0.014515445567667484, + 0.009888710454106331, + 1.1442995071411133, + 0.0003354288637638092, + 0.0030327539425343275, + -0.004291273653507233, + 0.0027570275124162436, + -0.002823335351422429, + 0.07495656609535217, + 0.39736679196357727, + -0.28320440649986267, + -0.0051409597508609295, + -0.005336217116564512, + 0.10560121387243271, + 0.0036313170567154884, + 0.003487346228212118, + -0.25811150670051575 + ], + "wrist_pos": [ + 0.28577953577041626, + 0.02160026691854, + 0.6942341923713684 + ], + "wrist_rot": [ + -0.457472026348114, + 0.5426236391067505, + 0.4448069632053375, + 0.5462835431098938 + ], + "joint_positions": [ + -1.0485144485983255e-07, + -2.3478065713788965e-08 + ] + }, + { + "phase": "approach", + "step": 63, + "virtual_xyz": [ + 0.28655198216438293, + 0.02262670174241066, + 0.6941393613815308 + ], + "wrist_rpy": [ + -1.5771321058273315, + 0.2100088745355606, + 1.5501822233200073 + ], + "finger_dofs": [ + 1.0393531322479248, + 0.002611629432067275, + -0.05589917674660683, + 0.522048830986023, + -0.002479118062183261, + -0.0019368238281458616, + 0.10117562860250473, + -8.600738510722294e-05, + 0.0017366571119055152, + 1.168233036994934, + -0.00813855417072773, + -0.009523632936179638, + 0.7265349626541138, + -0.0018887199694290757, + 0.00290926406159997, + -0.0067835841327905655, + 0.0024657039903104305, + -0.0022166213020682335, + -0.3954671323299408, + 0.04917994141578674, + -0.1830410361289978, + 0.5750113725662231, + -0.016333553940057755, + -0.027771472930908203, + 0.599510133266449, + -0.0024964686017483473, + 0.004143370781093836, + 0.7743316292762756, + -0.02030683495104313, + 0.02769947052001953, + 1.2427616119384766, + -0.002141875447705388, + 0.0033956069964915514, + -0.003790430258959532, + 0.0027081810403615236, + -0.002987985499203205, + 0.059492647647857666, + 0.41829055547714233, + -0.2950097918510437, + -0.005742186214774847, + -0.006576214451342821, + 0.10975553840398788, + 0.003963502123951912, + 0.003716660663485527, + -0.2604205906391144 + ], + "wrist_pos": [ + 0.2865520715713501, + 0.022626694291830063, + 0.694139301776886 + ], + "wrist_rot": [ + -0.4522353410720825, + 0.546425998210907, + 0.43742263317108154, + 0.5527777671813965 + ], + "joint_positions": [ + -1.1653533960043205e-07, + -4.189614433158795e-09 + ] + }, + { + "phase": "approach", + "step": 64, + "virtual_xyz": [ + 0.2868768274784088, + 0.023726632818579674, + 0.6939219236373901 + ], + "wrist_rpy": [ + -1.5741100311279297, + 0.23185491561889648, + 1.5454986095428467 + ], + "finger_dofs": [ + 1.0137674808502197, + 0.0038287779316306114, + -0.0682968869805336, + 0.5262734889984131, + -0.002048064721748233, + 0.002151735592633486, + 0.10086643695831299, + -0.0001282533776247874, + 0.001211483497172594, + 1.0901072025299072, + -0.010839663445949554, + 0.001132236560806632, + 0.8137661814689636, + -0.001844914280809462, + 0.0028958513867110014, + -0.006103838793933392, + 0.0024286319967359304, + -0.0023178583942353725, + -0.43327584862709045, + 0.04855534806847572, + -0.17447055876255035, + 0.5293857455253601, + -0.014926353469491005, + -0.02852485701441765, + 0.6178827285766602, + -0.0021779665257781744, + 0.0041698068380355835, + 0.7020122408866882, + -0.024105511605739594, + 0.036397602409124374, + 1.3351649045944214, + -0.002802895847707987, + 0.0035734116099774837, + -0.0027169736567884684, + 0.002545490162447095, + -0.0031013544648885727, + 0.04573976621031761, + 0.4347545802593231, + -0.3063695430755615, + -0.0058587235398590565, + -0.006220617797225714, + 0.11398402601480484, + 0.004117930773645639, + 0.0038408285472542048, + -0.26122546195983887 + ], + "wrist_pos": [ + 0.286876916885376, + 0.023726625367999077, + 0.6939218640327454 + ], + "wrist_rot": [ + -0.4467155337333679, + 0.5495976805686951, + 0.430851548910141, + 0.5592445135116577 + ], + "joint_positions": [ + -1.200457120376086e-07, + -5.819420945130105e-09 + ] + }, + { + "phase": "grasp", + "step": 0, + "virtual_xyz": [ + 0.28677675127983093, + 0.02320082113146782, + 0.694044291973114 + ], + "wrist_rpy": [ + -1.5736626386642456, + 0.2283165007829666, + 1.5467705726623535 + ], + "finger_dofs": [ + 0.9920088648796082, + 0.0033373578917235136, + -0.08772411942481995, + 0.5574226379394531, + 0.0024046662729233503, + 0.003013640409335494, + 0.10404682159423828, + -0.0016181479441002011, + 0.0010684359585866332, + 0.8920333981513977, + -0.02063068561255932, + 0.03270532190799713, + 0.9949036836624146, + -0.002829138655215502, + 0.0033620160538703203, + -0.0031023297924548388, + 0.0022687001619488, + -0.0024362567346543074, + -0.44753897190093994, + 0.04334760457277298, + -0.20319858193397522, + 0.44822919368743896, + -0.008825953118503094, + -0.02970203012228012, + 0.5965872406959534, + -0.0026357704773545265, + 0.0033977036364376545, + 0.7111172080039978, + -0.02581646479666233, + 0.030828960239887238, + 1.34586501121521, + -0.0026137037202715874, + 0.003491281531751156, + 0.00225690845400095, + 0.002458021743223071, + -0.0030844903085380793, + 0.046788934618234634, + 0.43736809492111206, + -0.3047623932361603, + -0.004602596163749695, + -0.0049657500348985195, + 0.09697097539901733, + 0.00392229575663805, + 0.0036281407810747623, + -0.25863707065582275 + ], + "wrist_pos": [ + 0.2867768406867981, + 0.023200813680887222, + 0.6940442323684692 + ], + "wrist_rot": [ + -0.4472106397151947, + 0.548997700214386, + 0.43232080340385437, + 0.5583034753799438 + ], + "joint_positions": [ + -1.3148213895419758e-07, + -4.178791979114749e-09 + ] + }, + { + "phase": "grasp", + "step": 1, + "virtual_xyz": [ + 0.2884817123413086, + 0.021367086097598076, + 0.6947290301322937 + ], + "wrist_rpy": [ + -1.5814673900604248, + 0.18464107811450958, + 1.5612066984176636 + ], + "finger_dofs": [ + 1.0417529344558716, + 0.0032316085416823626, + -0.05157248675823212, + 0.6258704662322998, + -0.004159288946539164, + -0.0038658156991004944, + 0.10299604386091232, + 0.0013544070534408092, + 0.001836035051383078, + 0.32537132501602173, + -0.0031594233587384224, + 0.035936418920755386, + 1.2135087251663208, + -0.0001986843126360327, + 0.0038605041336268187, + 0.03248806670308113, + -7.464866212103516e-05, + -0.002944485517218709, + -0.30187422037124634, + 0.030011558905243874, + -0.3448508381843567, + 0.39131292700767517, + -0.003766481066122651, + -0.017124105244874954, + 0.5145604014396667, + -0.0031368108466267586, + 0.0020375808235257864, + 0.9292734265327454, + -0.026697440072894096, + 0.0169915109872818, + 1.193843126296997, + 0.0030268258415162563, + 0.0028035843279212713, + 0.021089963614940643, + 0.002083142753690481, + -0.002537007909268141, + 0.11284465342760086, + 0.4056050181388855, + -0.28900355100631714, + 0.0001795083371689543, + -0.003611725987866521, + 0.053978245705366135, + 0.0033258453477174044, + 0.0028066784143447876, + -0.2555776834487915 + ], + "wrist_pos": [ + 0.28848180174827576, + 0.02136707864701748, + 0.6947289705276489 + ], + "wrist_rot": [ + -0.4572865664958954, + 0.5441817045211792, + 0.44626542925834656, + 0.5436933636665344 + ], + "joint_positions": [ + 0.000651040580123663, + -1.3450253355529185e-08 + ] + }, + { + "phase": "grasp", + "step": 2, + "virtual_xyz": [ + 0.2893945872783661, + 0.01699552685022354, + 0.6950674057006836 + ], + "wrist_rpy": [ + -1.5787442922592163, + 0.12907765805721283, + 1.561930775642395 + ], + "finger_dofs": [ + 0.8123733997344971, + 0.003343868302181363, + -0.03575403615832329, + 0.9689261317253113, + 0.003449832322075963, + -0.011922956444323063, + 0.11535970121622086, + 0.0020378578919917345, + 0.00182388408575207, + 0.2506100535392761, + 0.0028901840560138226, + 0.01275769341737032, + 0.935339629650116, + 0.0013372707180678844, + -0.00044696658733300865, + 0.08984462916851044, + 0.0009409251506440341, + 0.000504406460095197, + -0.12499284744262695, + 0.03941900283098221, + -0.37744688987731934, + 0.3337397873401642, + -0.004242426715791225, + -0.018740126863121986, + 0.47234395146369934, + -0.003613194450736046, + 0.0004248208715580404, + 1.1377333402633667, + -0.020382681861519814, + 0.024662842974066734, + 0.9849355816841125, + 0.003510969690978527, + -0.0005409122677519917, + 0.07832866162061691, + -0.0007686166209168732, + -0.0007031511049717665, + 0.17708797752857208, + 0.3759838044643402, + -0.2513135075569153, + 0.004533498547971249, + -0.0032647624611854553, + 0.0003549175744410604, + 0.0031325852032750845, + 0.0003519088786561042, + -0.2428998500108719 + ], + "wrist_pos": [ + 0.28939467668533325, + 0.016995521262288094, + 0.6950673460960388 + ], + "wrist_rot": [ + -0.47117772698402405, + 0.5309730768203735, + 0.462246298789978, + 0.5314013957977295 + ], + "joint_positions": [ + 0.0022297946270555258, + -8.043291366277572e-09 + ] + }, + { + "phase": "grasp", + "step": 3, + "virtual_xyz": [ + 0.28963714838027954, + 0.014103159308433533, + 0.6948013305664062 + ], + "wrist_rpy": [ + -1.557861566543579, + 0.09096947312355042, + 1.5556291341781616 + ], + "finger_dofs": [ + 0.53342604637146, + -0.0029652020893990993, + -0.017239419743418694, + 0.7253984808921814, + 0.0019565755501389503, + -0.0016375718405470252, + 0.12353984266519547, + 0.0009933150140568614, + 0.0012052471283823252, + 0.29387158155441284, + 0.0026737693697214127, + 0.00648396136239171, + 0.6704548001289368, + 0.0006161879282444715, + 9.548856905894354e-05, + 0.10855642706155777, + 0.0017526409355923533, + -0.0006017478881403804, + -0.10171812772750854, + 0.055959127843379974, + -0.3934953808784485, + 0.34226876497268677, + -0.008918664418160915, + -0.03017786331474781, + 0.5525431036949158, + -0.004333158954977989, + -0.0017283508786931634, + 1.2931675910949707, + -0.01591055653989315, + 0.030324766412377357, + 0.7873197197914124, + 0.0030247329268604517, + -0.001978253945708275, + 0.12627825140953064, + -0.0012795021757483482, + -0.0002748538099694997, + 0.2592402398586273, + 0.35284700989723206, + -0.22881127893924713, + 0.006811820901930332, + -0.0029600365087389946, + -0.040261007845401764, + 0.0033594327978789806, + -0.0019013985292986035, + -0.23511140048503876 + ], + "wrist_pos": [ + 0.2896372377872467, + 0.01410315465182066, + 0.6948012709617615 + ], + "wrist_rot": [ + -0.4772842228412628, + 0.5155182480812073, + 0.47611844539642334, + 0.5289158225059509 + ], + "joint_positions": [ + 0.005320262163877487, + -2.2091966034309962e-09 + ] + }, + { + "phase": "grasp", + "step": 4, + "virtual_xyz": [ + 0.2897081971168518, + 0.014139519073069096, + 0.6947163343429565 + ], + "wrist_rpy": [ + -1.551842451095581, + 0.09206331521272659, + 1.5544921159744263 + ], + "finger_dofs": [ + 0.45198318362236023, + -0.0023463298566639423, + -0.004072960931807756, + 0.5253592729568481, + 0.001851963228546083, + -0.0017722136108204722, + 0.13373123109340668, + 0.00033068264019675553, + 0.0009092502878047526, + 0.2533360421657562, + 0.002669090637937188, + 0.004905871115624905, + 0.5714642405509949, + -0.0020474737975746393, + 0.0018615985754877329, + 0.10056629031896591, + 0.0018960695015266538, + -0.00189090461935848, + -0.16272397339344025, + 0.0586070790886879, + -0.3928505778312683, + 0.33222565054893494, + -0.0047977520152926445, + -0.031168518587946892, + 0.6472258567810059, + -0.004436759743839502, + -0.0009606117964722216, + 1.2738912105560303, + -0.018000273033976555, + 0.039618153125047684, + 0.7651281952857971, + 0.0031513080466538668, + -0.0014865687116980553, + 0.10629195719957352, + 0.0020031724125146866, + -0.001840777462348342, + 0.2710131108760834, + 0.34647122025489807, + -0.22930024564266205, + 0.006784973666071892, + -0.0028017789591103792, + -0.039372768253088, + 0.00332740624435246, + -0.0018292024033144116, + -0.2438325434923172 + ], + "wrist_pos": [ + 0.28970828652381897, + 0.014139514416456223, + 0.6947162747383118 + ], + "wrist_rot": [ + -0.4756964147090912, + 0.5140781998634338, + 0.4770808219909668, + 0.530876874923706 + ], + "joint_positions": [ + 0.003069925121963024, + -2.7001580971131034e-09 + ] + }, + { + "phase": "grasp", + "step": 5, + "virtual_xyz": [ + 0.28973957896232605, + 0.014155782759189606, + 0.6947335600852966 + ], + "wrist_rpy": [ + -1.5463407039642334, + 0.09114302694797516, + 1.5543270111083984 + ], + "finger_dofs": [ + 0.4239491820335388, + -0.0021874820813536644, + 0.00021865690359845757, + 0.3908150792121887, + 0.0018025069730356336, + -0.0017072447808459401, + 0.147013857960701, + 5.022708137403242e-05, + 0.0009123710333369672, + 0.2604387700557709, + 0.0027440814301371574, + 0.0033512054942548275, + 0.4800558388233185, + -0.0020229213405400515, + 0.0018153340788558125, + 0.11224071681499481, + 0.0018766028806567192, + -0.0018379783723503351, + -0.1880679577589035, + 0.05940362438559532, + -0.39324668049812317, + 0.3174857497215271, + -0.002821285743266344, + -0.0314902663230896, + 0.7017931342124939, + -0.004555931314826012, + -0.0018326943973079324, + 1.2609833478927612, + -0.019561348482966423, + 0.04139930009841919, + 0.7617601156234741, + 0.003242192789912224, + 0.001834480557590723, + 0.11380553245544434, + 0.0019555685576051474, + -0.0018634973093867302, + 0.2738189995288849, + 0.3570014238357544, + -0.23250515758991241, + 0.005535587668418884, + -0.002966915024444461, + -0.039322465658187866, + 0.0032331098336726427, + -0.0018508612411096692, + -0.24986571073532104 + ], + "wrist_pos": [ + 0.2897396683692932, + 0.014155778102576733, + 0.6947335004806519 + ], + "wrist_rot": [ + -0.4745178520679474, + 0.5125004649162292, + 0.4786888062953949, + 0.5320085883140564 + ], + "joint_positions": [ + 0.0021598669700324535, + -2.7335176344678302e-09 + ] + }, + { + "phase": "grasp", + "step": 6, + "virtual_xyz": [ + 0.28974199295043945, + 0.014086924493312836, + 0.6947091221809387 + ], + "wrist_rpy": [ + -1.5434787273406982, + 0.09045810252428055, + 1.5534483194351196 + ], + "finger_dofs": [ + 0.42002490162849426, + -0.002819209359586239, + 0.0019024878274649382, + 0.3296128213405609, + 0.0016271906206384301, + -0.0010413039708510041, + 0.16306190192699432, + -1.1293778698018286e-05, + 0.0009702412644401193, + 0.2687797248363495, + 0.0026494686026126146, + 0.00749837514013052, + 0.4266858398914337, + -0.0021192149724811316, + -0.001434645033441484, + 0.12463129311800003, + 0.0019042486092075706, + -0.0010790987871587276, + -0.2193152904510498, + 0.058180708438158035, + -0.390908420085907, + 0.30604812502861023, + 0.0005041094846092165, + -0.03164665400981903, + 0.7440597414970398, + -0.004435285460203886, + -0.00178598053753376, + 1.2598545551300049, + -0.020160049200057983, + 0.04336325079202652, + 0.7654441595077515, + 0.003162074601277709, + 0.0017840538639575243, + 0.1287790983915329, + 0.001972084166482091, + -0.0018239282071590424, + 0.2743547260761261, + 0.36733266711235046, + -0.23264627158641815, + 0.004120659548789263, + -0.0031050536781549454, + -0.04701051861047745, + 0.002866052556782961, + -0.0017783377552405, + -0.25571364164352417 + ], + "wrist_pos": [ + 0.2897420823574066, + 0.014086919836699963, + 0.694709062576294 + ], + "wrist_rot": [ + -0.47416049242019653, + 0.5114396214485168, + 0.47936537861824036, + 0.5327382683753967 + ], + "joint_positions": [ + 0.0016519902274012566, + -3.045704355386647e-09 + ] + }, + { + "phase": "grasp", + "step": 7, + "virtual_xyz": [ + 0.2897624969482422, + 0.014045960269868374, + 0.694683313369751 + ], + "wrist_rpy": [ + -1.542075753211975, + 0.08997839689254761, + 1.5528899431228638 + ], + "finger_dofs": [ + 0.4277380108833313, + -0.0029465581756085157, + 0.002186610596254468, + 0.3186570107936859, + -0.0011665134225040674, + -0.0006592168938368559, + 0.18199989199638367, + 3.305428981548175e-05, + 0.000989212654531002, + 0.275931715965271, + 0.0026203510351479053, + 0.009988182224333286, + 0.4127625524997711, + -0.0021455443929880857, + -0.0018133114790543914, + 0.1400546282529831, + 0.0019109860295429826, + -0.0002891737676691264, + -0.22978416085243225, + 0.05833835527300835, + -0.3904578387737274, + 0.3039584159851074, + 0.002593890530988574, + -0.031586356461048126, + 0.7722052931785583, + -0.004407677333801985, + -0.00152000249363482, + 1.2622568607330322, + -0.020319918170571327, + 0.044525228440761566, + 0.778159499168396, + 0.00315094250254333, + 0.001775092794559896, + 0.14801180362701416, + 0.001947936019860208, + -0.0018143551424145699, + 0.27782392501831055, + 0.37752291560173035, + -0.23445548117160797, + 0.004026693291962147, + -0.003143017180263996, + -0.05575549229979515, + 0.002827172400429845, + -0.0017938867677003145, + -0.2629082202911377 + ], + "wrist_pos": [ + 0.28976258635520935, + 0.0140459556132555, + 0.6946832537651062 + ], + "wrist_rot": [ + -0.47405508160591125, + 0.5108535885810852, + 0.47969985008239746, + 0.533093273639679 + ], + "joint_positions": [ + 0.0016163877444341779, + -2.8181044164909963e-09 + ] + }, + { + "phase": "grasp", + "step": 8, + "virtual_xyz": [ + 0.28975844383239746, + 0.013984354212880135, + 0.6946487426757812 + ], + "wrist_rpy": [ + -1.541266918182373, + 0.08919105678796768, + 1.5525518655776978 + ], + "finger_dofs": [ + 0.4424993097782135, + -0.0029771679546684027, + 0.001976130763068795, + 0.3297330141067505, + -0.001832287758588791, + -0.0005302476929500699, + 0.20347194373607635, + 0.00011556720710359514, + 0.0009678154601715505, + 0.2871261239051819, + 0.002600322710350156, + 0.011262744665145874, + 0.4224744141101837, + -0.002162057673558593, + -0.001800542464479804, + 0.1593615561723709, + 0.0019167790887877345, + -1.6302845324389637e-05, + -0.23747281730175018, + 0.059369418770074844, + -0.3905974328517914, + 0.30457285046577454, + 0.0030688850674778223, + -0.03188297152519226, + 0.7933012843132019, + -0.004423276521265507, + -0.001321351039223373, + 1.2662197351455688, + -0.019842073321342468, + 0.04340246319770813, + 0.7904289364814758, + 0.00305414036847651, + 0.0017966007580980659, + 0.17055116593837738, + 0.0019457191228866577, + -0.0018191719427704811, + 0.284220427274704, + 0.3890712261199951, + -0.2382829785346985, + 0.004918609280139208, + -0.0030546297784894705, + -0.06296196579933167, + 0.0031068925745785236, + -0.0019005462527275085, + -0.27104344964027405 + ], + "wrist_pos": [ + 0.2897585332393646, + 0.013984349556267262, + 0.6946486830711365 + ], + "wrist_rot": [ + -0.47413235902786255, + 0.5103867053985596, + 0.48002052307128906, + 0.5331830382347107 + ], + "joint_positions": [ + 0.0015789320459589362, + -2.954678723909865e-09 + ] + }, + { + "phase": "grasp", + "step": 9, + "virtual_xyz": [ + 0.2897699475288391, + 0.013878034427762032, + 0.6946459412574768 + ], + "wrist_rpy": [ + -1.54074227809906, + 0.08730260282754898, + 1.5525254011154175 + ], + "finger_dofs": [ + 0.46213364601135254, + -0.003054387401789427, + 0.001797539764083922, + 0.3526339828968048, + -0.0018402651185169816, + -0.0005170717486180365, + 0.22703823447227478, + 0.00021200429182499647, + 0.0009702427196316421, + 0.3017853796482086, + 0.0025728819891810417, + 0.012037127278745174, + 0.4442833364009857, + -0.0021710682194679976, + -0.0017965456936508417, + 0.1817878782749176, + 0.0019196312641724944, + -3.590555934351869e-05, + -0.23506362736225128, + 0.05928609520196915, + -0.39044785499572754, + 0.30360230803489685, + 0.0033200355246663094, + -0.031185105443000793, + 0.8086351752281189, + -0.004338423255831003, + -0.0011057985248044133, + 1.274965763092041, + -0.01900041475892067, + 0.04194273054599762, + 0.797256350517273, + 0.0029743097256869078, + 0.0017741575138643384, + 0.1967911273241043, + 0.0019225864671170712, + -0.0018121679313480854, + 0.2918326258659363, + 0.40229758620262146, + -0.2423815131187439, + 0.00510975020006299, + -0.003075274871662259, + -0.07364794611930847, + 0.003081108909100294, + -0.0018927047494798899, + -0.2796812951564789 + ], + "wrist_pos": [ + 0.2897700369358063, + 0.013878029771149158, + 0.694645881652832 + ], + "wrist_rot": [ + -0.4744940996170044, + 0.5097918510437012, + 0.4806370735168457, + 0.5328748822212219 + ], + "joint_positions": [ + 0.001585972378961742, + -2.803369980597381e-09 + ] + }, + { + "phase": "grasp", + "step": 10, + "virtual_xyz": [ + 0.2897798418998718, + 0.01368748489767313, + 0.6946405172348022 + ], + "wrist_rpy": [ + -1.5397580862045288, + 0.08439750224351883, + 1.5526858568191528 + ], + "finger_dofs": [ + 0.48228588700294495, + -0.0030651860870420933, + 0.001456770347431302, + 0.3831223249435425, + -0.0018370436737313867, + -0.000814758357591927, + 0.25257834792137146, + 0.00026216107653453946, + 0.0009689363068901002, + 0.319616436958313, + 0.002586559159681201, + 0.012102676555514336, + 0.47123196721076965, + -0.002165592508390546, + -0.0017884437693282962, + 0.2072712630033493, + 0.0019180089002475142, + -0.00025053121498785913, + -0.23081070184707642, + 0.05988812819123268, + -0.391282856464386, + 0.303421288728714, + 0.0034685099963098764, + -0.030955223366618156, + 0.8227866888046265, + -0.004318941384553909, + -0.0010659288382157683, + 1.2878046035766602, + -0.018489787355065346, + 0.04396506026387215, + 0.7939937114715576, + 0.0033185177017003298, + 0.000531382451299578, + 0.2273668497800827, + 0.001869515748694539, + -0.0018047915073111653, + 0.3026389181613922, + 0.4164685010910034, + -0.24801844358444214, + 0.005191212520003319, + -0.0031019204761832952, + -0.0853603407740593, + 0.0030613807030022144, + -0.0018927176715806127, + -0.28901562094688416 + ], + "wrist_pos": [ + 0.289779931306839, + 0.013687480241060257, + 0.6946404576301575 + ], + "wrist_rot": [ + -0.47495195269584656, + 0.5088802576065063, + 0.4816826283931732, + 0.5323939323425293 + ], + "joint_positions": [ + 0.001593435532413423, + -2.6440434286456593e-09 + ] + }, + { + "phase": "grasp", + "step": 11, + "virtual_xyz": [ + 0.28979596495628357, + 0.013504652306437492, + 0.6946528553962708 + ], + "wrist_rpy": [ + -1.5386468172073364, + 0.08170218765735626, + 1.5528662204742432 + ], + "finger_dofs": [ + 0.5068877935409546, + -0.003102037589997053, + 0.0013002051273360848, + 0.41582995653152466, + -0.0018396780360490084, + -0.0009015823598019779, + 0.27973783016204834, + 0.0003603685472626239, + 0.000992535729892552, + 0.33928292989730835, + 0.002597218146547675, + 0.01218484528362751, + 0.5023345351219177, + -0.0021532808896154165, + -0.0017859202343970537, + 0.23439408838748932, + 0.0019125512335449457, + -0.0006096411379985511, + -0.24174681305885315, + 0.05972203239798546, + -0.39032095670700073, + 0.29983800649642944, + 0.003986425697803497, + -0.029992787167429924, + 0.8438215851783752, + -0.004194490145891905, + -0.0010535562178120017, + 1.2920472621917725, + -0.018996533006429672, + 0.04793258756399155, + 0.7983440160751343, + 0.0033676791936159134, + 0.0006113728159107268, + 0.2601810097694397, + 0.0018376265652477741, + -0.0017962601268664002, + 0.3156682848930359, + 0.42888811230659485, + -0.2550013065338135, + 0.005303827114403248, + -0.003118770895525813, + -0.09711545705795288, + 0.0030478450935333967, + -0.001881701173260808, + -0.299350768327713 + ], + "wrist_pos": [ + 0.28979605436325073, + 0.013504648581147194, + 0.694652795791626 + ], + "wrist_rot": [ + -0.47531571984291077, + 0.5079925060272217, + 0.4827098548412323, + 0.531986653804779 + ], + "joint_positions": [ + 0.0015532911056652665, + -2.3378872171520015e-09 + ] + }, + { + "phase": "grasp", + "step": 12, + "virtual_xyz": [ + 0.28987348079681396, + 0.013150389306247234, + 0.6949252486228943 + ], + "wrist_rpy": [ + -1.5384867191314697, + 0.07761728018522263, + 1.5542305707931519 + ], + "finger_dofs": [ + 0.5303447842597961, + -0.002830991754308343, + 0.002571008400991559, + 0.4548593759536743, + -0.0018386413576081395, + -0.0010836295550689101, + 0.30749762058258057, + 0.0005648845690302551, + 0.0013829907402396202, + 0.35424184799194336, + 0.0026495966594666243, + 0.011248762719333172, + 0.5414456725120544, + -0.002135892864316702, + 0.0011375624453648925, + 0.26308101415634155, + 0.0019158831564709544, + -0.0018174367723986506, + -0.2382703423500061, + 0.06154249608516693, + -0.39315831661224365, + 0.3020906448364258, + 0.004379999358206987, + -0.029728084802627563, + 0.8722995519638062, + -0.0042448462918400764, + -0.001598088419996202, + 1.306093692779541, + -0.018784379586577415, + 0.048295654356479645, + 0.7981131672859192, + 0.003486228408291936, + 0.001809439156204462, + 0.29941046237945557, + 0.0013476975727826357, + -0.001815171679481864, + 0.3314114212989807, + 0.4382122755050659, + -0.26351794600486755, + 0.005293245892971754, + -0.003157851519063115, + -0.10731279104948044, + 0.0030181899201124907, + -0.0018694594036787748, + -0.3108474016189575 + ], + "wrist_pos": [ + 0.28987357020378113, + 0.013150385580956936, + 0.6949251890182495 + ], + "wrist_rot": [ + -0.47599509358406067, + 0.5072723031044006, + 0.48416629433631897, + 0.530741274356842 + ], + "joint_positions": [ + 0.0016323428135365248, + -4.753151205960648e-10 + ] + }, + { + "phase": "grasp", + "step": 13, + "virtual_xyz": [ + 0.2898816168308258, + 0.012836815789341927, + 0.6950020790100098 + ], + "wrist_rpy": [ + -1.5382308959960938, + 0.07356540858745575, + 1.5549864768981934 + ], + "finger_dofs": [ + 0.558716893196106, + -0.0035014424938708544, + 0.0028212866745889187, + 0.49363186955451965, + -0.0018499636789783835, + -0.0013296690303832293, + 0.33728405833244324, + 0.000712862703949213, + 0.0015445505268871784, + 0.3732703626155853, + 0.002633078955113888, + 0.011334541253745556, + 0.5787890553474426, + -0.0021814024075865746, + 0.0013493556762114167, + 0.293215274810791, + 0.0019273922080174088, + -0.0017404406098648906, + -0.22947785258293152, + 0.061307355761528015, + -0.3937705457210541, + 0.29129281640052795, + 0.005795895121991634, + -0.029951535165309906, + 0.9056775569915771, + -0.004137387033551931, + -0.0013983962126076221, + 1.3237725496292114, + -0.017718417569994926, + 0.047328826040029526, + 0.7944397330284119, + 0.003327002516016364, + 0.0017052735202014446, + 0.33620184659957886, + 0.0001305555342696607, + -0.001637302921153605, + 0.3467421531677246, + 0.45017969608306885, + -0.2712819278240204, + 0.00525703327730298, + -0.0031117447651922703, + -0.12178978323936462, + 0.0029452070593833923, + -0.0018720281077548862, + -0.3220338821411133 + ], + "wrist_pos": [ + 0.28988170623779297, + 0.012836812064051628, + 0.695002019405365 + ], + "wrist_rot": [ + -0.4767938256263733, + 0.5063908696174622, + 0.48547375202178955, + 0.5296707153320312 + ], + "joint_positions": [ + 0.0014684605412185192, + -4.965794997424666e-10 + ] + }, + { + "phase": "grasp", + "step": 14, + "virtual_xyz": [ + 0.289886474609375, + 0.012600011192262173, + 0.6949991583824158 + ], + "wrist_rpy": [ + -1.5379343032836914, + 0.06947968155145645, + 1.5547130107879639 + ], + "finger_dofs": [ + 0.5905153751373291, + -0.003402488771826029, + 0.003080907044932246, + 0.5341367721557617, + -0.0018346153665333986, + -0.0010909311240538955, + 0.3687373697757721, + 0.000922567502129823, + 0.0015812997007742524, + 0.3955441415309906, + 0.002628594171255827, + 0.01370187383145094, + 0.6162840127944946, + -0.002152387984097004, + -0.0002671588445082307, + 0.3252270221710205, + 0.0019130388973280787, + -0.0017007221467792988, + -0.22084194421768188, + 0.06168114021420479, + -0.3943173587322235, + 0.29211699962615967, + 0.005514909978955984, + -0.02800796739757061, + 0.9484763145446777, + -0.0038499413058161736, + -0.00047312918468378484, + 1.3404821157455444, + -0.0173331368714571, + 0.04801126942038536, + 0.7927160263061523, + 0.0033600868191570044, + 0.001343158190138638, + 0.3741370737552643, + -0.0014341885689646006, + -0.0005095186061225832, + 0.36341485381126404, + 0.46294841170310974, + -0.27800917625427246, + 0.005295532289892435, + -0.003107145894318819, + -0.13840779662132263, + 0.0029175609815865755, + -0.0018618239555507898, + -0.33318379521369934 + ], + "wrist_pos": [ + 0.28988656401634216, + 0.012600007466971874, + 0.694999098777771 + ], + "wrist_rot": [ + -0.4778496325016022, + 0.505243718624115, + 0.4865250885486603, + 0.5288494825363159 + ], + "joint_positions": [ + 0.0018502797465771437, + -5.7502108630203e-10 + ] + }, + { + "phase": "grasp", + "step": 15, + "virtual_xyz": [ + 0.2898980379104614, + 0.012292583473026752, + 0.6950197815895081 + ], + "wrist_rpy": [ + -1.5368353128433228, + 0.06548368185758591, + 1.5548752546310425 + ], + "finger_dofs": [ + 0.6224291920661926, + -0.0034825378097593784, + 0.00289361784234643, + 0.5767793655395508, + -0.0018285781843587756, + -0.001226642169058323, + 0.4014541208744049, + 0.0009937647264450788, + 0.0015731039457023144, + 0.41970208287239075, + 0.0026149407494813204, + 0.014115332625806332, + 0.6562236547470093, + -0.0021527644712477922, + -0.0003042441967409104, + 0.35777387022972107, + 0.001912365318275988, + -0.0018099198350682855, + -0.2169383466243744, + 0.06253540515899658, + -0.39471235871315, + 0.3005715012550354, + 0.005578225012868643, + -0.027152948081493378, + 0.9948771595954895, + -0.0036262148059904575, + 0.0001833205169532448, + 1.355425238609314, + -0.015470231883227825, + 0.047241635620594025, + 0.7921740412712097, + 0.003320734715089202, + 0.0007472407887689769, + 0.41298171877861023, + -0.001827346277423203, + 0.0004972064052708447, + 0.3805679976940155, + 0.4768078923225403, + -0.2866149842739105, + 0.005256536416709423, + -0.003109661629423499, + -0.15422293543815613, + 0.002876203740015626, + -0.0018506060587242246, + -0.3453330993652344 + ], + "wrist_pos": [ + 0.2898981273174286, + 0.012292579747736454, + 0.6950197219848633 + ], + "wrist_rot": [ + -0.4785584807395935, + 0.5040245056152344, + 0.48786866664886475, + 0.5281336307525635 + ], + "joint_positions": [ + 0.001925842952914536, + -3.7970407373855153e-10 + ] + }, + { + "phase": "grasp", + "step": 16, + "virtual_xyz": [ + 0.2899196445941925, + 0.012000533752143383, + 0.6951201558113098 + ], + "wrist_rpy": [ + -1.536089539527893, + 0.06077514961361885, + 1.555253505706787 + ], + "finger_dofs": [ + 0.6552358269691467, + -0.003506717272102833, + 0.003251211019232869, + 0.6216899156570435, + -0.00182191445492208, + -0.0012277313508093357, + 0.4349076747894287, + 0.0011600949801504612, + 0.0016565537080168724, + 0.44647225737571716, + 0.002616301877424121, + 0.014376886188983917, + 0.697145402431488, + -0.0021335629280656576, + 0.0005334837478585541, + 0.39232271909713745, + 0.0019048415124416351, + -0.001818043296225369, + -0.20847977697849274, + 0.06301406025886536, + -0.3948182165622711, + 0.31276634335517883, + 0.0045787072740495205, + -0.025028077885508537, + 1.0420995950698853, + -0.003316329326480627, + 0.0008907255833037198, + 1.3712164163589478, + -0.014608807861804962, + 0.04746285080909729, + 0.7881457209587097, + 0.0033374817576259375, + 5.7868481235345826e-05, + 0.45354196429252625, + -0.0018699001520872116, + 0.0016390352975577116, + 0.3977523446083069, + 0.4918503165245056, + -0.29511746764183044, + 0.005141009576618671, + -0.0031137194018810987, + -0.17033426463603973, + 0.0028259563259780407, + -0.0018471421208232641, + -0.3575940430164337 + ], + "wrist_pos": [ + 0.28991973400115967, + 0.012000530026853085, + 0.695120096206665 + ], + "wrist_rot": [ + -0.4794904887676239, + 0.5027632117271423, + 0.48935890197753906, + 0.527110755443573 + ], + "joint_positions": [ + 0.00203638500533998, + -1.2703302298966435e-10 + ] + }, + { + "phase": "grasp", + "step": 17, + "virtual_xyz": [ + 0.28993701934814453, + 0.011684445664286613, + 0.6951313018798828 + ], + "wrist_rpy": [ + -1.5349981784820557, + 0.05573385953903198, + 1.5556381940841675 + ], + "finger_dofs": [ + 0.6881457567214966, + -0.003578070318326354, + 0.002929764101281762, + 0.6675359010696411, + -0.0018111260142177343, + -0.0014691109536215663, + 0.46954479813575745, + 0.0011240406893193722, + 0.0016165589913725853, + 0.47577202320098877, + 0.002653143834322691, + 0.014275677502155304, + 0.7393831014633179, + -0.0021219588816165924, + 0.0007215325604192913, + 0.4273338317871094, + 0.0018977118888869882, + -0.0018319041701033711, + -0.20169545710086823, + 0.06289523094892502, + -0.3951108753681183, + 0.32609185576438904, + 0.0035154593642801046, + -0.02281683124601841, + 1.0910927057266235, + -0.0029524315614253283, + 0.0014607688644900918, + 1.3868597745895386, + -0.013844347558915615, + 0.04674621298909187, + 0.7960897088050842, + 0.0033244823571294546, + -0.0007912369328550994, + 0.49359115958213806, + -0.0018939002184197307, + 0.0018228067783638835, + 0.41523683071136475, + 0.5084086656570435, + -0.30388182401657104, + 0.005076361820101738, + -0.003088274272158742, + -0.18789218366146088, + 0.0027681400533765554, + -0.0018467754125595093, + -0.36991527676582336 + ], + "wrist_pos": [ + 0.2899370789527893, + 0.011684441938996315, + 0.695131242275238 + ], + "wrist_rot": [ + -0.48041489720344543, + 0.50133216381073, + 0.4910180866718292, + 0.5260882377624512 + ], + "joint_positions": [ + 0.002122502075508237, + -5.439735814571911e-11 + ] + }, + { + "phase": "grasp", + "step": 18, + "virtual_xyz": [ + 0.2899651527404785, + 0.011360514909029007, + 0.6951446533203125 + ], + "wrist_rpy": [ + -1.5341705083847046, + 0.050992321223020554, + 1.5562196969985962 + ], + "finger_dofs": [ + 0.7179593443870544, + -0.003292638575658202, + 0.0012847757898271084, + 0.6884310245513916, + -0.002280628541484475, + -0.0017745262011885643, + 0.5042915940284729, + 0.0013766828924417496, + 0.0015452756779268384, + 0.5027409791946411, + 0.0026501331012696028, + 0.014025972224771976, + 0.7857349514961243, + -0.0021136454306542873, + 0.001514255884103477, + 0.4621753990650177, + 0.001896682195365429, + -0.0018602743512019515, + -0.19870004057884216, + 0.061314657330513, + -0.39375197887420654, + 0.35780516266822815, + 0.0018404921283945441, + -0.019473504275083542, + 1.1338419914245605, + -0.002636371413245797, + 0.0017995759844779968, + 1.4031877517700195, + -0.01223254855722189, + 0.04457991570234299, + 0.8130495548248291, + 0.0031443655025213957, + -0.0006087415968067944, + 0.5334992408752441, + -0.001903017982840538, + 0.0018436942482367158, + 0.43167462944984436, + 0.5251657962799072, + -0.3126835525035858, + 0.004911074880510569, + -0.0030603196937590837, + -0.2053728550672531, + 0.0026933869812637568, + -0.0018437568796798587, + -0.38258692622184753 + ], + "wrist_pos": [ + 0.2899652421474457, + 0.011360511183738708, + 0.6951445937156677 + ], + "wrist_rot": [ + -0.4812803268432617, + 0.5000841021537781, + 0.4925820827484131, + 0.5250219106674194 + ], + "joint_positions": [ + 0.0022157859057188034, + 9.587663043930661e-06 + ] + }, + { + "phase": "grasp", + "step": 19, + "virtual_xyz": [ + 0.2899940609931946, + 0.011177956126630306, + 0.6951007843017578 + ], + "wrist_rpy": [ + -1.5343986749649048, + 0.047284405678510666, + 1.556198000907898 + ], + "finger_dofs": [ + 0.7421808242797852, + -0.003013156121596694, + -0.00022801803424954414, + 0.675068736076355, + -0.0027327751740813255, + 0.00013789911463391036, + 0.5387641787528992, + 0.0018698145868256688, + 0.0014617464039474726, + 0.5315387845039368, + 0.0022873098496347666, + 0.01381496712565422, + 0.8329777121543884, + -0.0021235512103885412, + 0.0019002874614670873, + 0.4968225061893463, + 0.0019131674198433757, + -0.0018968838267028332, + -0.18662887811660767, + 0.06303156167268753, + -0.39268559217453003, + 0.4015674889087677, + -0.004164200276136398, + -0.01706874556839466, + 1.1523643732070923, + -0.002490801038220525, + 0.0018219792982563376, + 1.4170600175857544, + -0.01094396784901619, + 0.04479328915476799, + 0.8343448042869568, + 0.003011522116139531, + -0.00195718789473176, + 0.5716591477394104, + -0.0018999415915459394, + 0.0019100271165370941, + 0.4457346796989441, + 0.5421619415283203, + -0.31977415084838867, + 0.0047897580079734325, + -0.003022785997018218, + -0.22374002635478973, + 0.002619643695652485, + -0.001855508191511035, + -0.3950027823448181 + ], + "wrist_pos": [ + 0.28999415040016174, + 0.011177952401340008, + 0.695100724697113 + ], + "wrist_rot": [ + -0.48230457305908203, + 0.4992069900035858, + 0.4934585392475128, + 0.5240927338600159 + ], + "joint_positions": [ + 0.002220869529992342, + 1.9135257389280014e-05 + ] + }, + { + "phase": "grasp", + "step": 20, + "virtual_xyz": [ + 0.29002439975738525, + 0.010936014354228973, + 0.6950470805168152 + ], + "wrist_rpy": [ + -1.534307837486267, + 0.04302333667874336, + 1.5558687448501587 + ], + "finger_dofs": [ + 0.7657787203788757, + -0.003001407254487276, + -0.00030175806023180485, + 0.6531742811203003, + -0.0032800056505948305, + 0.0018980567110702395, + 0.5742562413215637, + 0.0019903152715414762, + 0.0013382023898884654, + 0.5648539662361145, + 0.00242452509701252, + 0.013204316608607769, + 0.8786495923995972, + -0.0020232952665537596, + 0.0018746121786534786, + 0.5331693887710571, + 0.00185667653568089, + -0.0019156886264681816, + -0.17026452720165253, + 0.06535747647285461, + -0.3936525583267212, + 0.42880865931510925, + -0.007443721406161785, + -0.015238724648952484, + 1.165527582168579, + -0.0024716248735785484, + 0.0018067618366330862, + 1.4282045364379883, + -0.009607262909412384, + 0.043612394481897354, + 0.8604320287704468, + 0.002887285780161619, + -0.0019653411582112312, + 0.6122661828994751, + -0.0019220495596528053, + 0.0019512383732944727, + 0.4599207043647766, + 0.5603712797164917, + -0.3262036144733429, + 0.004672811832278967, + -0.0030026526656001806, + -0.2436271607875824, + 0.0025479462929069996, + -0.0018556921277195215, + -0.4069444239139557 + ], + "wrist_pos": [ + 0.29002445936203003, + 0.010936010628938675, + 0.6950470209121704 + ], + "wrist_rot": [ + -0.48346298933029175, + 0.49803629517555237, + 0.4944723844528198, + 0.5231828093528748 + ], + "joint_positions": [ + 0.0022354810498654842, + 2.8921960620209575e-05 + ] + }, + { + "phase": "grasp", + "step": 21, + "virtual_xyz": [ + 0.2900451719760895, + 0.010664928704500198, + 0.695026159286499 + ], + "wrist_rpy": [ + -1.5339794158935547, + 0.03875714913010597, + 1.555984377861023 + ], + "finger_dofs": [ + 0.7854894995689392, + -0.0031633710023015738, + -0.00042744228267110884, + 0.6293699145317078, + -0.0035762879997491837, + 0.0020179515704512596, + 0.6106897592544556, + 0.0020883542019873857, + 0.0012237252667546272, + 0.5959171652793884, + 0.0023690785747021437, + 0.012506077997386456, + 0.9271367192268372, + -0.0020644546020776033, + 0.001921017188578844, + 0.5690577626228333, + 0.0018845369340851903, + -0.0019381351303309202, + -0.16443340480327606, + 0.06415646523237228, + -0.39179250597953796, + 0.45350801944732666, + -0.008762246929109097, + -0.013716133311390877, + 1.1768617630004883, + -0.0024219751358032227, + 0.0018063181778416038, + 1.4446178674697876, + -0.008458256721496582, + 0.04136938229203224, + 0.8846131563186646, + 0.0027012955397367477, + -0.0019623711705207825, + 0.652646541595459, + -0.0019086521351709962, + 0.001997576327994466, + 0.4737052917480469, + 0.5794201493263245, + -0.33357924222946167, + 0.004538901150226593, + -0.0029941604007035494, + -0.2626489996910095, + 0.002464033430442214, + -0.0018619186012074351, + -0.41939878463745117 + ], + "wrist_pos": [ + 0.29004526138305664, + 0.0106649249792099, + 0.6950260996818542 + ], + "wrist_rot": [ + -0.48444750905036926, + 0.49691057205200195, + 0.4956607520580292, + 0.5222172141075134 + ], + "joint_positions": [ + 0.00220806454308331, + 2.6099585738847964e-05 + ] + }, + { + "phase": "grasp", + "step": 22, + "virtual_xyz": [ + 0.29009440541267395, + 0.010366329923272133, + 0.6951264142990112 + ], + "wrist_rpy": [ + -1.5336480140686035, + 0.03404106944799423, + 1.5564814805984497 + ], + "finger_dofs": [ + 0.8044564127922058, + -0.0032339892350137234, + 0.00033606597571633756, + 0.6085503697395325, + -0.004012831952422857, + 0.00215107761323452, + 0.647078275680542, + 0.002214492531493306, + 0.001171306474134326, + 0.62540602684021, + 0.0023463007528334856, + 0.012439670041203499, + 0.9691150188446045, + -0.00211139558814466, + 0.0019533622544258833, + 0.6051578521728516, + 0.0018487190827727318, + -0.0019505606032907963, + -0.1555715650320053, + 0.06469891965389252, + -0.39308491349220276, + 0.46273073554039, + -0.01023916620761156, + -0.012411708012223244, + 1.1858116388320923, + -0.0024143371265381575, + 0.0018026134930551052, + 1.4587724208831787, + -0.007330871652811766, + 0.041354067623615265, + 0.9054906964302063, + 0.002719758078455925, + -0.00200033001601696, + 0.6945508122444153, + -0.0019188454607501626, + 0.002050790935754776, + 0.4878292977809906, + 0.5986776947975159, + -0.3407236933708191, + 0.004393160343170166, + -0.0030010556802153587, + -0.2815062701702118, + 0.0023903034161776304, + -0.00186331442091614, + -0.43178197741508484 + ], + "wrist_pos": [ + 0.2900944948196411, + 0.010366326197981834, + 0.6951263546943665 + ], + "wrist_rot": [ + -0.4854505956172943, + 0.4957605302333832, + 0.49705958366394043, + 0.521047830581665 + ], + "joint_positions": [ + 0.002292864490300417, + 6.378105899784714e-05 + ] + }, + { + "phase": "grasp", + "step": 23, + "virtual_xyz": [ + 0.2901114523410797, + 0.010140235535800457, + 0.695136308670044 + ], + "wrist_rpy": [ + -1.5335898399353027, + 0.03037814050912857, + 1.5569534301757812 + ], + "finger_dofs": [ + 0.8222508430480957, + -0.0034159799106419086, + 1.0925683454843238e-05, + 0.5898038744926453, + -0.004432661924511194, + 0.0023103661369532347, + 0.683739960193634, + 0.0023536321241408587, + 0.0010858343448489904, + 0.6411739587783813, + 0.0024795879144221544, + 0.012619252316653728, + 0.9719116687774658, + -0.0019362153252586722, + 0.0018938411958515644, + 0.6356356143951416, + -0.0005054889479652047, + -0.0019636196084320545, + -0.14681479334831238, + 0.06563437730073929, + -0.3930805027484894, + 0.4792029559612274, + -0.012793437577784061, + -0.01127514336258173, + 1.2048298120498657, + -0.0023432408925145864, + 0.0017989746993407607, + 1.4705270528793335, + -0.00551801361143589, + 0.03806920722126961, + 0.9317350387573242, + 0.0023744527716189623, + -0.001978303538635373, + 0.7329502701759338, + -0.0018663551891222596, + 0.0020801012869924307, + 0.500404417514801, + 0.619062602519989, + -0.34848901629447937, + 0.004290529526770115, + -0.0029659641440957785, + -0.3000580966472626, + 0.0023127365857362747, + -0.0018604660872370005, + -0.4444570243358612 + ], + "wrist_pos": [ + 0.2901115417480469, + 0.010140231810510159, + 0.6951362490653992 + ], + "wrist_rot": [ + -0.4862588942050934, + 0.4949360489845276, + 0.4981164336204529, + 0.5200677514076233 + ], + "joint_positions": [ + 0.001980538945645094, + 6.479545118054375e-05 + ] + }, + { + "phase": "grasp", + "step": 24, + "virtual_xyz": [ + 0.2901604473590851, + 0.009956113994121552, + 0.6951400637626648 + ], + "wrist_rpy": [ + -1.5335397720336914, + 0.026547059416770935, + 1.5573734045028687 + ], + "finger_dofs": [ + 0.8391435146331787, + -0.0032831807620823383, + -0.00039933944935910404, + 0.5701653957366943, + -0.00467356713488698, + 0.002367263427004218, + 0.7204543352127075, + 0.0024141184985637665, + 0.0009910945082083344, + 0.6513089537620544, + 0.002362604718655348, + 0.013696870766580105, + 0.972224235534668, + -0.0021222291979938745, + 0.002015078905969858, + 0.6679893732070923, + -0.0018185283988714218, + -0.001969261560589075, + -0.12798409163951874, + 0.06606446206569672, + -0.3933615982532501, + 0.48448067903518677, + -0.013807528652250767, + -0.010110190138220787, + 1.219586730003357, + -0.0023009704891592264, + 0.001801879145205021, + 1.4936193227767944, + -0.0041994452476501465, + 0.033657971769571304, + 0.9606071710586548, + 0.0022069818805903196, + -0.0020445624832063913, + 0.7701085209846497, + -0.0018801653059199452, + 0.002118791686370969, + 0.5132478475570679, + 0.6407935619354248, + -0.3559488356113434, + 0.0042055086232721806, + -0.0029478336218744516, + -0.3187880516052246, + 0.0022440715692937374, + -0.0018567376537248492, + -0.45687103271484375 + ], + "wrist_pos": [ + 0.29016053676605225, + 0.009956110268831253, + 0.69514000415802 + ], + "wrist_rot": [ + -0.4871242642402649, + 0.4940572679042816, + 0.499197781085968, + 0.5190558433532715 + ], + "joint_positions": [ + 0.0018706293776631355, + 9.939631854649633e-05 + ] + }, + { + "phase": "grasp", + "step": 25, + "virtual_xyz": [ + 0.29020610451698303, + 0.009745407849550247, + 0.6951369643211365 + ], + "wrist_rpy": [ + -1.5336618423461914, + 0.0226566344499588, + 1.5579053163528442 + ], + "finger_dofs": [ + 0.8545982837677002, + -0.0032306110952049494, + -0.0009735226049087942, + 0.5561763048171997, + -0.0053555164486169815, + 0.002457325579598546, + 0.7567046880722046, + 0.0025125022511929274, + 0.0008787659462541342, + 0.6601125597953796, + 0.0025692079216241837, + 0.014742202125489712, + 0.9761540293693542, + -0.0018514847615733743, + 0.0018480680882930756, + 0.7010430693626404, + -0.002076070988550782, + -0.0019758855924010277, + -0.11488103866577148, + 0.0658121258020401, + -0.39387211203575134, + 0.4868374168872833, + -0.014185117557644844, + -0.009545433335006237, + 1.2323349714279175, + -0.0022772205993533134, + 0.0018062820890918374, + 1.5178152322769165, + -0.0038800593465566635, + 0.031228510662913322, + 0.9956980347633362, + 0.002130383625626564, + -0.0020654883701354265, + 0.807257354259491, + -0.0018578842282295227, + 0.0021592110861092806, + 0.525566577911377, + 0.6626135110855103, + -0.36302125453948975, + 0.004084118641912937, + -0.0029090282041579485, + -0.3378749489784241, + 0.0021637461613863707, + -0.0018520370358601213, + -0.4690287411212921 + ], + "wrist_pos": [ + 0.2902061939239502, + 0.009745405055582523, + 0.6951369047164917 + ], + "wrist_rot": [ + -0.4880203306674957, + 0.4932321012020111, + 0.500278115272522, + 0.5179575085639954 + ], + "joint_positions": [ + 0.0017455244669690728, + 0.00015828617324586958 + ] + }, + { + "phase": "grasp", + "step": 26, + "virtual_xyz": [ + 0.29025012254714966, + 0.009528235532343388, + 0.6951213479042053 + ], + "wrist_rpy": [ + -1.533681035041809, + 0.018400277942419052, + 1.5583176612854004 + ], + "finger_dofs": [ + 0.8678449988365173, + -0.0031573011074215174, + -0.0018876452231779695, + 0.5481319427490234, + -0.006258957087993622, + 0.002555623883381486, + 0.7926849126815796, + 0.002614059718325734, + 0.0007412136765196919, + 0.6658768653869629, + 0.0022944845259189606, + 0.01674547791481018, + 0.9849653244018555, + -0.002147900639101863, + 0.001960218185558915, + 0.7345101833343506, + -0.0020748551469296217, + -0.0019775093533098698, + -0.1011519730091095, + 0.06582706421613693, + -0.393716424703598, + 0.49622172117233276, + -0.015807656571269035, + -0.008206254802644253, + 1.2455894947052002, + -0.002256534993648529, + 0.0018082900205627084, + 1.539469838142395, + -0.0036092845257371664, + 0.03011775016784668, + 1.033212423324585, + 0.0020631845109164715, + -0.002100354293361306, + 0.845402181148529, + -0.0018340845126658678, + 0.0022177102509886026, + 0.5380274653434753, + 0.6851838231086731, + -0.3694854974746704, + 0.0039675114676356316, + -0.002873652148991823, + -0.3575565218925476, + 0.0020903691183775663, + -0.001848025363869965, + -0.48063820600509644 + ], + "wrist_pos": [ + 0.2902502119541168, + 0.009528232738375664, + 0.6951212882995605 + ], + "wrist_rot": [ + -0.4890111982822418, + 0.4922577440738678, + 0.5014418959617615, + 0.5168232917785645 + ], + "joint_positions": [ + 0.0017188990022987127, + 0.00019959108612965792 + ] + }, + { + "phase": "grasp", + "step": 27, + "virtual_xyz": [ + 0.2902872860431671, + 0.009342547506093979, + 0.695138692855835 + ], + "wrist_rpy": [ + -1.5336472988128662, + 0.014787635765969753, + 1.558784008026123 + ], + "finger_dofs": [ + 0.8766704201698303, + -0.003298804396763444, + -0.002809504047036171, + 0.5456070899963379, + -0.007188939489424229, + 0.002663162536919117, + 0.8281828165054321, + 0.0027218465693295, + 0.0006079826271161437, + 0.6756372451782227, + 0.0023102995473891497, + 0.017987219616770744, + 0.9777585864067078, + -0.00194640236441046, + 0.0018803838174790144, + 0.7671390175819397, + -0.0022628491278737783, + -0.001969389384612441, + -0.08687625080347061, + 0.06593337655067444, + -0.393078476190567, + 0.4958895444869995, + -0.01577584072947502, + -0.007814166136085987, + 1.2541457414627075, + -0.0022379590664058924, + 0.0018163637723773718, + 1.5578727722167969, + -0.003450734307989478, + 0.02951643243432045, + 1.0737217664718628, + 0.0019498924957588315, + -0.0021021589636802673, + 0.8822951316833496, + -0.0017504720017313957, + 0.0022614658810198307, + 0.5494394898414612, + 0.708195686340332, + -0.37589287757873535, + 0.003857725765556097, + -0.002844482194632292, + -0.37579411268234253, + 0.0020192658994346857, + -0.0018467443296685815, + -0.4924542009830475 + ], + "wrist_pos": [ + 0.2902873754501343, + 0.009342544712126255, + 0.6951386332511902 + ], + "wrist_rot": [ + -0.4898093044757843, + 0.4914454221725464, + 0.5024696588516235, + 0.5158414244651794 + ], + "joint_positions": [ + 0.0015703685348853469, + 0.0002442026452627033 + ] + }, + { + "phase": "grasp", + "step": 28, + "virtual_xyz": [ + 0.29036444425582886, + 0.009222620166838169, + 0.6951213479042053 + ], + "wrist_rpy": [ + -1.53324556350708, + 0.011248178780078888, + 1.5595887899398804 + ], + "finger_dofs": [ + 0.8814800381660461, + -0.0024187650997191668, + -0.00450920732691884, + 0.5446528792381287, + -0.007310771383345127, + 0.002722745295614004, + 0.8631787896156311, + 0.0027378236409276724, + 0.00047693788656033576, + 0.6843525171279907, + 0.0023274163249880075, + 0.017821144312620163, + 0.9781695604324341, + -0.00179157720413059, + 0.0019762013107538223, + 0.7997607588768005, + -0.0023532502818852663, + -0.002018583007156849, + -0.0748082622885704, + 0.06505224853754044, + -0.39362263679504395, + 0.5055443644523621, + -0.01696786656975746, + -0.006775012239813805, + 1.2688548564910889, + -0.0022311995271593332, + 0.0018103341571986675, + 1.5758305788040161, + -0.003140087006613612, + 0.027625005692243576, + 1.112606406211853, + 0.0020045277196913958, + -0.002084714360535145, + 0.9188908338546753, + -0.0017851522425189614, + 0.002285844413563609, + 0.5621028542518616, + 0.7323238849639893, + -0.3836856782436371, + 0.003758201142773032, + -0.002809060038998723, + -0.392887681722641, + 0.0019773459061980247, + -0.001825849525630474, + -0.5043047666549683 + ], + "wrist_pos": [ + 0.2903645634651184, + 0.009222617372870445, + 0.6951212882995605 + ], + "wrist_rot": [ + -0.4904097616672516, + 0.49064069986343384, + 0.5036547780036926, + 0.5148802995681763 + ], + "joint_positions": [ + 0.0013549610739573836, + 0.0003418024571146816 + ] + }, + { + "phase": "grasp", + "step": 29, + "virtual_xyz": [ + 0.29041266441345215, + 0.009020557627081871, + 0.6951608657836914 + ], + "wrist_rpy": [ + -1.5325393676757812, + 0.007475838530808687, + 1.5606789588928223 + ], + "finger_dofs": [ + 0.8831207156181335, + 0.0024588704109191895, + -0.014316525310277939, + 0.5641782283782959, + -0.012053916230797768, + 0.0024571195244789124, + 0.8942519426345825, + 0.0028723087161779404, + 0.00036102550802752376, + 0.6893644332885742, + 0.0022788257338106632, + 0.017213784158229828, + 0.9825353622436523, + -0.001068258541636169, + 0.001979461871087551, + 0.8319475054740906, + -0.002424115315079689, + -0.002018981147557497, + -0.06314675509929657, + 0.0658758357167244, + -0.3944738507270813, + 0.5041458010673523, + -0.016820162534713745, + -0.006465523038059473, + 1.2859419584274292, + -0.0022314826492220163, + 0.0018216705648228526, + 1.5846199989318848, + -0.003085073549300432, + 0.02550320327281952, + 1.1538060903549194, + 0.0019696366507560015, + -0.0021124589256942272, + 0.9568391442298889, + -0.0009985166834667325, + 0.0023640086874365807, + 0.5738310813903809, + 0.7572263479232788, + -0.3911355137825012, + 0.003665128257125616, + -0.002783110598102212, + -0.40958815813064575, + 0.0019085777457803488, + -0.0018132764380425215, + -0.5158708691596985 + ], + "wrist_pos": [ + 0.2904127538204193, + 0.009020554833114147, + 0.6951608061790466 + ], + "wrist_rot": [ + -0.49092090129852295, + 0.48976847529411316, + 0.5050427317619324, + 0.5138630867004395 + ], + "joint_positions": [ + 0.000977549352683127, + 0.00044641256681643426 + ] + }, + { + "phase": "grasp", + "step": 30, + "virtual_xyz": [ + 0.2904575765132904, + 0.008698966354131699, + 0.6951548457145691 + ], + "wrist_rpy": [ + -1.5309443473815918, + 0.0029071751050651073, + 1.5607889890670776 + ], + "finger_dofs": [ + 0.8784195184707642, + 0.0022706384770572186, + -0.026133226230740547, + 0.5882111191749573, + -0.014193462207913399, + 0.0028618962969630957, + 0.9247549176216125, + 0.003183398861438036, + 0.00022028959938324988, + 0.6963922381401062, + 0.0024440791457891464, + 0.01866118051111698, + 0.9864623546600342, + 0.0024303975515067577, + 0.0018443892477080226, + 0.863978922367096, + -0.002663292223587632, + -0.002008615294471383, + -0.059909023344516754, + 0.06659793853759766, + -0.3954203724861145, + 0.5037156343460083, + -0.01757735200226307, + -0.005363394971936941, + 1.3086671829223633, + -0.0022534476593136787, + 0.0018342724069952965, + 1.5859235525131226, + -0.0031853828113526106, + 0.02456253580749035, + 1.1925686597824097, + 0.001964450115337968, + -0.0021833444479852915, + 0.9963805675506592, + 0.00015640899073332548, + 0.002470300067216158, + 0.5869748592376709, + 0.7844823598861694, + -0.39710697531700134, + 0.003549138316884637, + -0.0027616831939667463, + -0.42804890871047974, + 0.0018624268705025315, + -0.0017990809865295887, + -0.5261509418487549 + ], + "wrist_pos": [ + 0.29045766592025757, + 0.008698963560163975, + 0.6951547861099243 + ], + "wrist_rot": [ + -0.491645872592926, + 0.4882250130176544, + 0.5065891146659851, + 0.5131159424781799 + ], + "joint_positions": [ + 0.0005118580884300172, + 0.0005191448726691306 + ] + }, + { + "phase": "grasp", + "step": 31, + "virtual_xyz": [ + 0.2905515134334564, + 0.00846801046282053, + 0.6951421499252319 + ], + "wrist_rpy": [ + -1.527702808380127, + -0.003581277560442686, + 1.5609526634216309 + ], + "finger_dofs": [ + 0.8721749782562256, + 0.004414400085806847, + -0.034545037895441055, + 0.619461178779602, + -0.013476571068167686, + 0.002747182734310627, + 0.9558064937591553, + 0.0030428722966462374, + 5.393345418269746e-05, + 0.7087723612785339, + 0.002630292670801282, + 0.01791350729763508, + 0.9765017628669739, + 0.003088284283876419, + 0.0017490122700110078, + 0.8946409225463867, + -0.002865387825295329, + -0.0020092923659831285, + -0.04562102258205414, + 0.06656128913164139, + -0.39708444476127625, + 0.49583104252815247, + -0.01682235859334469, + -0.004634369630366564, + 1.3345667123794556, + -0.002323796506971121, + 0.001855761744081974, + 1.5872273445129395, + -0.0032364774961024523, + 0.022863879799842834, + 1.221591591835022, + 0.002139084739610553, + -0.0022399253211915493, + 1.0382120609283447, + 0.0011326039675623178, + 0.002647501416504383, + 0.6072243452072144, + 0.8147385120391846, + -0.40447190403938293, + 0.0033617233857512474, + -0.002771587809547782, + -0.4462520480155945, + 0.0018503156024962664, + -0.0017987958854064345, + -0.5354256629943848 + ], + "wrist_pos": [ + 0.2905516028404236, + 0.008468007668852806, + 0.6951420903205872 + ], + "wrist_rot": [ + -0.49242180585861206, + 0.4857783913612366, + 0.5090160965919495, + 0.5122914910316467 + ], + "joint_positions": [ + -2.5661224256623427e-09, + 0.0006748030427843332 + ] + }, + { + "phase": "grasp", + "step": 32, + "virtual_xyz": [ + 0.290668785572052, + 0.008184239268302917, + 0.6951058506965637 + ], + "wrist_rpy": [ + -1.5248446464538574, + -0.00855264626443386, + 1.5610634088516235 + ], + "finger_dofs": [ + 0.8668021559715271, + 0.0028691168408840895, + -0.04079575091600418, + 0.651352047920227, + -0.016736047342419624, + 0.0030686226673424244, + 0.9860775470733643, + 0.0033646582160145044, + -0.00015426304889842868, + 0.7092908024787903, + 0.002453756285831332, + 0.01755972020328045, + 0.989626944065094, + 0.0030980086885392666, + 0.0017448872094973922, + 0.9211541414260864, + -0.0028236855287104845, + -0.002023693872615695, + -0.03264353424310684, + 0.068658247590065, + -0.399448424577713, + 0.4818524718284607, + -0.017717968672513962, + -0.004672462586313486, + 1.3637970685958862, + -0.002263775561004877, + 0.0018982309848070145, + 1.5891022682189941, + -0.0034407395869493484, + 0.02195064164698124, + 1.2524691820144653, + 0.0019334875978529453, + -0.0022919063922017813, + 1.075677514076233, + 0.0018735247431322932, + 0.0026784634683281183, + 0.6236445903778076, + 0.8453013300895691, + -0.410828560590744, + 0.00333685171790421, + -0.0027047167532145977, + -0.4624672830104828, + 0.0014416981721296906, + -0.0017987716710194945, + -0.5451047420501709 + ], + "wrist_pos": [ + 0.29066887497901917, + 0.008184236474335194, + 0.695105791091919 + ], + "wrist_rot": [ + -0.4929234981536865, + 0.48379674553871155, + 0.5109543800354004, + 0.5117545127868652 + ], + "joint_positions": [ + -1.2715986041911265e-09, + 0.0009251244482584298 + ] + }, + { + "phase": "grasp", + "step": 33, + "virtual_xyz": [ + 0.29072022438049316, + 0.007999910041689873, + 0.6949074864387512 + ], + "wrist_rpy": [ + -1.5233885049819946, + -0.012318049557507038, + 1.5584913492202759 + ], + "finger_dofs": [ + 0.8542011976242065, + 0.002636762335896492, + -0.04393964260816574, + 0.7038609385490417, + -0.019088139757514, + 0.003342054318636656, + 1.0158990621566772, + 0.0035876997280865908, + -0.0002721349010244012, + 0.7206672430038452, + 0.002673288807272911, + 0.02709216997027397, + 0.9952179193496704, + 0.004095185548067093, + -0.0019615888595581055, + 0.9424172043800354, + -0.0031993493903428316, + -0.001977262319996953, + -0.02963893488049507, + 0.06698094308376312, + -0.39806121587753296, + 0.47806113958358765, + -0.01646256446838379, + -0.004493686370551586, + 1.3843612670898438, + -0.002298780484125018, + 0.0019313241355121136, + 1.588695764541626, + -0.00342414784245193, + 0.027443040162324905, + 1.2844066619873047, + 0.0019577776547521353, + -0.0024125624913722277, + 1.109434962272644, + 0.0019204947166144848, + 0.0028186929412186146, + 0.636869490146637, + 0.8740845322608948, + -0.41069358587265015, + 0.003225301392376423, + -0.0026330563705414534, + -0.4819602072238922, + 0.00031666754512116313, + -0.0017847189446911216, + -0.5521655678749084 + ], + "wrist_pos": [ + 0.2907203137874603, + 0.007999907247722149, + 0.6949074268341064 + ], + "wrist_rot": [ + -0.4941246509552002, + 0.48181670904159546, + 0.5115668773651123, + 0.5118522644042969 + ], + "joint_positions": [ + -3.1784341825158435e-09, + 0.0010580242378637195 + ] + }, + { + "phase": "grasp", + "step": 34, + "virtual_xyz": [ + 0.29074665904045105, + 0.0077483030036091805, + 0.6947609186172485 + ], + "wrist_rpy": [ + -1.5207256078720093, + -0.016075093299150467, + 1.5567225217819214 + ], + "finger_dofs": [ + 0.838465690612793, + 0.0020783685613423586, + -0.047079283744096756, + 0.7509722709655762, + -0.02095324918627739, + 0.003500734455883503, + 1.04392409324646, + 0.0037005452904850245, + -0.00033642322523519397, + 0.7364227771759033, + 0.003061231691390276, + 0.03273436427116394, + 0.987676739692688, + 0.0056393761187791824, + -0.00242050364613533, + 0.9618838429450989, + -0.003452192759141326, + -0.001827939529903233, + -0.03384895622730255, + 0.0673992931842804, + -0.3983607888221741, + 0.4741278290748596, + -0.015975119546055794, + -0.004309460986405611, + 1.404539704322815, + -0.0023745873477309942, + 0.0019725202582776546, + 1.5891432762145996, + -0.0033465700689703226, + 0.029711922630667686, + 1.31501042842865, + 0.001883645192719996, + -0.0025927091483026743, + 1.1416651010513306, + 0.0020237108692526817, + 0.003042550990357995, + 0.6522863507270813, + 0.9030176997184753, + -0.4129786193370819, + 0.003082109149545431, + -0.0026406871620565653, + -0.4995337724685669, + -0.0006164995720610023, + -0.001790316659025848, + -0.5591252446174622 + ], + "wrist_pos": [ + 0.2907467484474182, + 0.007748301140964031, + 0.6947608590126038 + ], + "wrist_rot": [ + -0.4948172867298126, + 0.4797230362892151, + 0.5126693844795227, + 0.5120465755462646 + ], + "joint_positions": [ + -5.686502824175932e-09, + 0.0011386319529265165 + ] + }, + { + "phase": "grasp", + "step": 35, + "virtual_xyz": [ + 0.29077136516571045, + 0.007410229649394751, + 0.6945539116859436 + ], + "wrist_rpy": [ + -1.5166751146316528, + -0.023652147501707077, + 1.5545365810394287 + ], + "finger_dofs": [ + 0.8332063555717468, + 0.0011668248334899545, + -0.04384007677435875, + 0.7910454273223877, + -0.015171398408710957, + 0.003421897767111659, + 1.0724382400512695, + 0.003262466285377741, + -0.0004273348022252321, + 0.7562205791473389, + 0.0029319406021386385, + 0.03805920109152794, + 0.9738946557044983, + 0.006031482946127653, + -0.0025078211911022663, + 0.9873729348182678, + -0.0034368212800472975, + -0.0017798077315092087, + -0.019334139302372932, + 0.06820139288902283, + -0.39961421489715576, + 0.46104514598846436, + -0.015432877466082573, + -0.0045058224350214005, + 1.4056217670440674, + -0.0024689992424100637, + 0.00202939729206264, + 1.5901730060577393, + -0.0031731126364320517, + 0.032256510108709335, + 1.3332327604293823, + 0.001942264148965478, + -0.0027862421702593565, + 1.1787984371185303, + 0.0021167080849409103, + 0.0032543563283979893, + 0.6752896308898926, + 0.9358086585998535, + -0.41518986225128174, + 0.0029871619772166014, + -0.0025496918242424726, + -0.5198366641998291, + -0.0007084133103489876, + -0.0017964730504900217, + -0.5635279417037964 + ], + "wrist_pos": [ + 0.2907714545726776, + 0.007410227321088314, + 0.6945538520812988 + ], + "wrist_rot": [ + -0.4962124228477478, + 0.4761650860309601, + 0.5149168372154236, + 0.511762261390686 + ], + "joint_positions": [ + -9.864158379002674e-09, + 0.0012385006994009018 + ] + }, + { + "phase": "grasp", + "step": 36, + "virtual_xyz": [ + 0.2911180853843689, + 0.006307574920356274, + 0.6937640905380249 + ], + "wrist_rpy": [ + -1.5007333755493164, + -0.044962283223867416, + 1.5399832725524902 + ], + "finger_dofs": [ + 0.8640680313110352, + 0.000798681634478271, + -0.037585001438856125, + 0.9174319505691528, + -0.015205028466880322, + 0.003341791220009327, + 1.0978434085845947, + 0.0031724292784929276, + -0.0007658441900275648, + 0.9064257144927979, + 0.003310553729534149, + 0.043509550392627716, + 0.8635309338569641, + 0.007343251723796129, + -0.00322403060272336, + 1.075537919998169, + -0.0031298736575990915, + 0.002298765117302537, + 0.033818285912275314, + 0.0885709598660469, + -0.42540693283081055, + 0.5535892844200134, + -0.028068529441952705, + -0.007534608710557222, + 1.4091261625289917, + -0.0024485928006470203, + 0.001987815136089921, + 1.6080107688903809, + -0.009732148610055447, + 0.03858175128698349, + 1.2524973154067993, + -0.0019217606168240309, + -0.002763724885880947, + 1.2144893407821655, + 0.0022642684634774923, + 0.003809864167124033, + 0.7860113382339478, + 0.9754742980003357, + -0.4230252504348755, + 0.0019595222547650337, + -0.0030275839380919933, + -0.56773841381073, + 0.0019055838929489255, + 0.0020905653946101665, + -0.5629652142524719 + ], + "wrist_pos": [ + 0.29111817479133606, + 0.006307573057711124, + 0.6937640309333801 + ], + "wrist_rot": [ + -0.5008743405342102, + 0.4627712368965149, + 0.5200520157814026, + 0.5143086314201355 + ], + "joint_positions": [ + 0.02084282599389553, + 0.001153874909505248 + ] + }, + { + "phase": "grasp", + "step": 37, + "virtual_xyz": [ + 0.29102393984794617, + 0.006461647339165211, + 0.6935212016105652 + ], + "wrist_rpy": [ + -1.4892879724502563, + -0.04281631112098694, + 1.531607985496521 + ], + "finger_dofs": [ + 0.9102951884269714, + 0.00011717678717104718, + -0.028032923117280006, + 1.0925461053848267, + -0.0022027723025530577, + -0.0013319156132638454, + 1.1236158609390259, + -0.0001983612892217934, + -0.0009769357275217772, + 0.9626333117485046, + 0.003550175577402115, + 0.04926407337188721, + 0.8046904802322388, + 0.01168438047170639, + -0.0032853407319635153, + 1.1080821752548218, + -0.003496535588055849, + 0.002167018363252282, + -0.04531751200556755, + 0.09672825783491135, + -0.42638179659843445, + 0.5927699208259583, + -0.030350985005497932, + -0.007401090115308762, + 1.4090834856033325, + -0.002413892187178135, + 0.0017965476727113128, + 1.604802131652832, + -0.012914658524096012, + 0.04481639713048935, + 1.2560683488845825, + 0.0022450373508036137, + -0.0026684964541345835, + 1.225332498550415, + 0.0021357943769544363, + 0.003530800575390458, + 0.8100554347038269, + 0.8722621202468872, + -0.4765699803829193, + 0.0025585307739675045, + -0.005760881118476391, + -0.5464065670967102, + 0.0023791969288140535, + -0.001781490514986217, + -0.5768341422080994 + ], + "wrist_pos": [ + 0.29102402925491333, + 0.0064616454765200615, + 0.6935211420059204 + ], + "wrist_rot": [ + -0.4993087947368622, + 0.45827823877334595, + 0.520009458065033, + 0.5198671817779541 + ], + "joint_positions": [ + 0.024295343086123466, + 0.0014322851784527302 + ] + }, + { + "phase": "grasp", + "step": 38, + "virtual_xyz": [ + 0.2910075783729553, + 0.006494114175438881, + 0.6933571696281433 + ], + "wrist_rpy": [ + -1.4844768047332764, + -0.04276324063539505, + 1.526435136795044 + ], + "finger_dofs": [ + 1.022763729095459, + 0.0022524006199091673, + -0.01771947741508484, + 1.2863001823425293, + 0.001379877794533968, + -0.0016843127086758614, + 1.1426743268966675, + -0.0017627663910388947, + -0.0008825646946206689, + 0.9966081976890564, + 0.003931723069399595, + 0.05488705262541771, + 0.7609439492225647, + 0.012723664753139019, + -0.0037141561042517424, + 1.1305023431777954, + -0.0033592176623642445, + 0.0023515645880252123, + -0.08365584164857864, + 0.09721807390451431, + -0.42630741000175476, + 0.6293562650680542, + -0.03284560889005661, + -0.007061033044010401, + 1.410562515258789, + -0.0026182804722338915, + -5.17194093845319e-05, + 1.6056435108184814, + -0.016506925225257874, + 0.0475996732711792, + 1.2617599964141846, + 0.0020266356877982616, + -0.002685379236936569, + 1.2307469844818115, + 0.0022170806769281626, + 0.003692670026794076, + 0.8074766397476196, + 0.8277897238731384, + -0.4904142916202545, + 0.0022150317672640085, + -0.005415612366050482, + -0.5464932918548584, + 0.002434565220028162, + -0.0019460200564935803, + -0.5838478803634644 + ], + "wrist_pos": [ + 0.2910076677799225, + 0.006494112312793732, + 0.6933571100234985 + ], + "wrist_rot": [ + -0.4992239475250244, + 0.45575061440467834, + 0.5197482705116272, + 0.522425651550293 + ], + "joint_positions": [ + 0.026254506781697273, + 0.00141660135705024 + ] + }, + { + "phase": "grasp", + "step": 39, + "virtual_xyz": [ + 0.2910051941871643, + 0.006589385215193033, + 0.693241536617279 + ], + "wrist_rpy": [ + -1.4826453924179077, + -0.04368168115615845, + 1.5244975090026855 + ], + "finger_dofs": [ + 1.134364128112793, + 0.012982751242816448, + -0.0179449375718832, + 1.3109667301177979, + 0.004031670745462179, + -0.0030130348168313503, + 1.1494674682617188, + -0.0023473133333027363, + -0.000807287055067718, + 1.024841547012329, + 0.003734294092282653, + 0.05191311612725258, + 0.7249470949172974, + 0.012714998796582222, + -0.0033431134652346373, + 1.1511000394821167, + -0.0032811511773616076, + 0.0022553028538823128, + -0.07528983801603317, + 0.09909433871507645, + -0.42706888914108276, + 0.6328680515289307, + -0.033183760941028595, + -0.005784417502582073, + 1.410279631614685, + -0.002642235718667507, + -0.0018338419031351805, + 1.6044684648513794, + -0.017769545316696167, + 0.049182914197444916, + 1.253673791885376, + 0.0026291341055184603, + -0.002628420013934374, + 1.236737847328186, + 0.0021030455827713013, + 0.0036092207301408052, + 0.8087075352668762, + 0.7806946039199829, + -0.5052749514579773, + 0.0022883957717567682, + -0.007039118092507124, + -0.5502915382385254, + 0.002508492674678564, + -0.001959598623216152, + -0.589518129825592 + ], + "wrist_pos": [ + 0.29100531339645386, + 0.006589383352547884, + 0.6932414770126343 + ], + "wrist_rot": [ + -0.49941518902778625, + 0.45454150438308716, + 0.519877552986145, + 0.5231669545173645 + ], + "joint_positions": [ + 0.027911344543099403, + 0.0013500108616426587 + ] + }, + { + "phase": "grasp", + "step": 40, + "virtual_xyz": [ + 0.2910297214984894, + 0.006343752145767212, + 0.6931232213973999 + ], + "wrist_rpy": [ + -1.4818519353866577, + -0.04683994501829147, + 1.5230321884155273 + ], + "finger_dofs": [ + 1.165619969367981, + 0.013798020780086517, + -0.021008111536502838, + 1.3268972635269165, + 0.0032537435181438923, + -0.00282019330188632, + 1.1598252058029175, + -0.0021964753977954388, + -0.000813637743704021, + 1.0515064001083374, + 0.003273534122854471, + 0.05161634460091591, + 0.6782192587852478, + 0.010132397525012493, + -0.0030894444789737463, + 1.1724580526351929, + -0.0029394577722996473, + 0.0022567645646631718, + -0.07848105579614639, + 0.09825804829597473, + -0.42726027965545654, + 0.6437279582023621, + -0.03256375715136528, + -0.005602462682873011, + 1.4100404977798462, + -0.0026868649292737246, + -0.001854887348599732, + 1.606029748916626, + -0.0189058817923069, + 0.04892783239483833, + 1.245356559753418, + 0.0026270304806530476, + -0.0026082287076860666, + 1.2472820281982422, + 0.0021405683364719152, + 0.0036378514487296343, + 0.8071640729904175, + 0.7355679273605347, + -0.5147168636322021, + 0.002516293665394187, + -0.007846537977457047, + -0.5662302374839783, + 0.0024724930990487337, + -0.0015106415376067162, + -0.5904924869537354 + ], + "wrist_pos": [ + 0.29102981090545654, + 0.006343750283122063, + 0.6931231617927551 + ], + "wrist_rot": [ + -0.5003266334533691, + 0.45310962200164795, + 0.5204274654388428, + 0.5229915380477905 + ], + "joint_positions": [ + 0.02875925600528717, + 0.0013329008361324668 + ] + }, + { + "phase": "grasp", + "step": 41, + "virtual_xyz": [ + 0.2910468578338623, + 0.006273825652897358, + 0.6930391192436218 + ], + "wrist_rpy": [ + -1.4817453622817993, + -0.048126913607120514, + 1.521815299987793 + ], + "finger_dofs": [ + 1.1741974353790283, + 0.01280578039586544, + -0.021435203030705452, + 1.3503122329711914, + 0.003020815085619688, + -0.0027316687628626823, + 1.1704895496368408, + -0.0021405366715043783, + -0.0007905485108494759, + 1.0656706094741821, + 0.0030366384889930487, + 0.05266603082418442, + 0.6569686532020569, + 0.00911170057952404, + -0.0029922735411673784, + 1.184068202972412, + -0.0026915650814771652, + 0.0022461365442723036, + -0.0744994729757309, + 0.09860111027956009, + -0.4275168776512146, + 0.6425761580467224, + -0.03283773362636566, + -0.005446195602416992, + 1.4096407890319824, + -0.002692597918212414, + -0.0018661965150386095, + 1.6053361892700195, + -0.019551169127225876, + 0.05051102116703987, + 1.2434523105621338, + 0.0026813915465027094, + -0.002568585565313697, + 1.2533882856369019, + 0.0021417918615043163, + 0.003625778015702963, + 0.8063696026802063, + 0.7123698592185974, + -0.520017683506012, + 0.003140982473269105, + -0.00954047404229641, + -0.58405601978302, + 0.002392152789980173, + 0.0017946878215298057, + -0.5920171737670898 + ], + "wrist_pos": [ + 0.29104694724082947, + 0.006273823790252209, + 0.693039059638977 + ], + "wrist_rot": [ + -0.5008943676948547, + 0.45242637395858765, + 0.520439863204956, + 0.5230271220207214 + ], + "joint_positions": [ + 0.02899714931845665, + 0.0013190720928832889 + ] + }, + { + "phase": "grasp", + "step": 42, + "virtual_xyz": [ + 0.2910582423210144, + 0.0062259528785943985, + 0.6929948329925537 + ], + "wrist_rpy": [ + -1.4817594289779663, + -0.04883773997426033, + 1.5212550163269043 + ], + "finger_dofs": [ + 1.180113434791565, + 0.013185166753828526, + -0.022066758945584297, + 1.3709365129470825, + 0.002860775450244546, + -0.0027021891437470913, + 1.1790329217910767, + -0.002098269062116742, + -0.0007581280660815537, + 1.0731706619262695, + 0.0033250004053115845, + 0.05320248380303383, + 0.6449985504150391, + 0.010365011170506477, + -0.0030796050559729338, + 1.190208077430725, + -0.0028258217498660088, + 0.0022439046297222376, + -0.07306256890296936, + 0.09836550056934357, + -0.42710578441619873, + 0.6436883807182312, + -0.03277713060379028, + -0.005348599515855312, + 1.4094505310058594, + -0.002705617342144251, + -0.001872163382358849, + 1.604948878288269, + -0.019587192684412003, + 0.051214709877967834, + 1.2425388097763062, + 0.002688766224309802, + -0.0025549624115228653, + 1.2576029300689697, + 0.002148000756278634, + 0.0036333457101136446, + 0.8060158491134644, + 0.7112101912498474, + -0.5188010334968567, + 0.0032195469830185175, + -0.009077676571905613, + -0.5872774124145508, + 0.002464158460497856, + 0.0008598181884735823, + -0.5937728881835938 + ], + "wrist_pos": [ + 0.29105833172798157, + 0.006225951015949249, + 0.6929947733879089 + ], + "wrist_rot": [ + -0.5012011528015137, + 0.45209580659866333, + 0.5204596519470215, + 0.5229994058609009 + ], + "joint_positions": [ + 0.029073014855384827, + 0.001309494487941265 + ] + }, + { + "phase": "grasp", + "step": 43, + "virtual_xyz": [ + 0.29106447100639343, + 0.006223894190043211, + 0.6929733157157898 + ], + "wrist_rpy": [ + -1.482013463973999, + -0.04891565069556236, + 1.5209325551986694 + ], + "finger_dofs": [ + 1.1815447807312012, + 0.01302189752459526, + -0.022067153826355934, + 1.3897593021392822, + 0.00224871514365077, + -0.002620335668325424, + 1.184754490852356, + -0.0020212754607200623, + -0.0007352816755883396, + 1.0770883560180664, + 0.0033414256758987904, + 0.053628984838724136, + 0.6393613815307617, + 0.010291562415659428, + -0.0030605262145400047, + 1.193663239479065, + -0.0028040653560310602, + 0.0022310686763375998, + -0.07216965407133102, + 0.09828906506299973, + -0.42663437128067017, + 0.6435332894325256, + -0.03264697641134262, + -0.005296217743307352, + 1.409434199333191, + -0.00270692422054708, + -0.0018772846087813377, + 1.6046404838562012, + -0.019644655287265778, + 0.052016180008649826, + 1.2420620918273926, + 0.0027713703457266092, + -0.002557221567258239, + 1.2607148885726929, + 0.0021431022323668003, + 0.003608055878430605, + 0.8043285012245178, + 0.7094277143478394, + -0.5213096737861633, + 0.0031392136588692665, + -0.007470176089555025, + -0.5962020754814148, + 0.0023585695307701826, + 0.002040589926764369, + -0.5950980186462402 + ], + "wrist_pos": [ + 0.2910645604133606, + 0.006223892327398062, + 0.692973256111145 + ], + "wrist_rot": [ + -0.5013598203659058, + 0.45205986499786377, + 0.5203365087509155, + 0.5230010747909546 + ], + "joint_positions": [ + 0.02913905493915081, + 0.0013015865115448833 + ] + }, + { + "phase": "grasp", + "step": 44, + "virtual_xyz": [ + 0.2910648286342621, + 0.006206950638443232, + 0.6929463148117065 + ], + "wrist_rpy": [ + -1.4819294214248657, + -0.049330100417137146, + 1.520351767539978 + ], + "finger_dofs": [ + 1.184446930885315, + 0.01309980358928442, + -0.02305861935019493, + 1.4043147563934326, + 0.002259886125102639, + -0.002585379406809807, + 1.1874094009399414, + -0.002000399399548769, + -0.0007201889529824257, + 1.0793852806091309, + 0.0033936291001737118, + 0.054990239441394806, + 0.6362411975860596, + 0.010729758068919182, + -0.003156565595418215, + 1.1957346200942993, + -0.0028146954718977213, + 0.002250995486974716, + -0.07291258126497269, + 0.09844832867383957, + -0.42613500356674194, + 0.6462025046348572, + -0.032610658556222916, + -0.005270189139991999, + 1.4093505144119263, + -0.002734687179327011, + -0.0018845262238755822, + 1.6031097173690796, + -0.019274992868304253, + 0.056401293724775314, + 1.23964524269104, + 0.0028580185025930405, + -0.0027731340378522873, + 1.2712745666503906, + 0.0022041930351406336, + 0.0036452743224799633, + 0.8049580454826355, + 0.7177358865737915, + -0.5234484076499939, + 0.002869196003302932, + -0.006936740595847368, + -0.610175371170044, + 0.0024723114911466837, + 0.001992666395381093, + -0.5947344899177551 + ], + "wrist_pos": [ + 0.29106491804122925, + 0.006206948775798082, + 0.6929462552070618 + ], + "wrist_rot": [ + -0.5015718936920166, + 0.4517793357372284, + 0.5203021764755249, + 0.523074209690094 + ], + "joint_positions": [ + 0.02913876809179783, + 0.001291916356422007 + ] + }, + { + "phase": "drag", + "step": 0, + "virtual_xyz": [ + 0.28956910967826843, + 0.005843112710863352, + 0.692864716053009 + ], + "wrist_rpy": [ + -1.4805234670639038, + -0.04922228679060936, + 1.5193310976028442 + ], + "finger_dofs": [ + 1.1823264360427856, + 0.01364675723016262, + -0.02335863746702671, + 1.425902247428894, + 0.00224794982932508, + -0.002534497296437621, + 1.1885818243026733, + -0.001979963621124625, + -0.0006941443425603211, + 1.0849577188491821, + 0.003052155952900648, + 0.0569399818778038, + 0.6215861439704895, + 0.010567014105618, + -0.003112820442765951, + 1.1976851224899292, + -0.002695812378078699, + 0.002249607816338539, + -0.11213569343090057, + 0.09917590767145157, + -0.4238549470901489, + 0.6471184492111206, + -0.032728083431720734, + -0.006526184733957052, + 1.4091770648956299, + -0.002431301400065422, + -0.0019296210957691073, + 1.6006746292114258, + -0.01770402491092682, + 0.05555183067917824, + 1.2619223594665527, + 0.0031495457515120506, + -0.0027037409599870443, + 1.2612744569778442, + 0.002068456495180726, + 0.0032618953846395016, + 0.804542601108551, + 0.7542464733123779, + -0.5248449444770813, + 0.0031637533102184534, + -0.00681736646220088, + -0.6092560887336731, + 0.0024390961043536663, + 0.002194073284044862, + -0.5982767343521118 + ], + "wrist_pos": [ + 0.2895691990852356, + 0.005843110848218203, + 0.6928646564483643 + ], + "wrist_rot": [ + -0.5014075636863708, + 0.4511871337890625, + 0.5203268527984619, + 0.523717999458313 + ], + "joint_positions": [ + 0.03502722457051277, + 0.0021212215069681406 + ] + }, + { + "phase": "drag", + "step": 1, + "virtual_xyz": [ + 0.2880405783653259, + 0.0056532928720116615, + 0.6925654411315918 + ], + "wrist_rpy": [ + -1.4817731380462646, + -0.04989701509475708, + 1.518197774887085 + ], + "finger_dofs": [ + 1.1831506490707397, + 0.015069972723722458, + -0.025352008640766144, + 1.4478336572647095, + 0.0025228431914001703, + -0.0025376828853040934, + 1.1880531311035156, + -0.0019900077022612095, + -0.0004449552216101438, + 1.0877426862716675, + 0.0033524329774081707, + 0.05809139460325241, + 0.6058111786842346, + 0.012246441096067429, + -0.003165220143273473, + 1.1937098503112793, + -0.0029169106855988503, + 0.0022242600098252296, + -0.1066603809595108, + 0.0998053252696991, + -0.42379656434059143, + 0.6271036863327026, + -0.03359923139214516, + -0.006709107663482428, + 1.409679889678955, + -0.002420273143798113, + -0.001918558031320572, + 1.5987169742584229, + -0.01586885191500187, + 0.05596645176410675, + 1.2685412168502808, + 0.0033110713120549917, + -0.0027503008022904396, + 1.2427434921264648, + 0.001990929711610079, + 0.003229989903047681, + 0.805587887763977, + 0.7763569355010986, + -0.527294933795929, + 0.0027023865841329098, + -0.006204525008797646, + -0.6027122139930725, + 0.002464419463649392, + 0.002012520097196102, + -0.600625216960907 + ], + "wrist_pos": [ + 0.2880406677722931, + 0.005653291009366512, + 0.692565381526947 + ], + "wrist_rot": [ + -0.5021576285362244, + 0.45104342699050903, + 0.5199089050292969, + 0.5235381126403809 + ], + "joint_positions": [ + 0.042213600128889084, + 0.003389308461919427 + ] + }, + { + "phase": "drag", + "step": 2, + "virtual_xyz": [ + 0.2865232825279236, + 0.005091314669698477, + 0.6922951936721802 + ], + "wrist_rpy": [ + -1.483709454536438, + -0.054941289126873016, + 1.5178260803222656 + ], + "finger_dofs": [ + 1.1798229217529297, + 0.016174741089344025, + -0.02787075750529766, + 1.4651100635528564, + 0.002816851483657956, + -0.0025453518610447645, + 1.1869205236434937, + -0.002001890679821372, + -0.00014717398153152317, + 1.0897722244262695, + 0.003384942887350917, + 0.058232035487890244, + 0.5982347130775452, + 0.012409142218530178, + -0.00316240219399333, + 1.1896798610687256, + -0.002947670640423894, + 0.0022119313944131136, + -0.09847233444452286, + 0.09810896217823029, + -0.42361387610435486, + 0.608240008354187, + -0.032872676849365234, + -0.006803211756050587, + 1.4101152420043945, + -0.0024380357936024666, + -0.0018838444957509637, + 1.5985339879989624, + -0.014446541666984558, + 0.05511336028575897, + 1.2669358253479004, + 0.0031593707390129566, + -0.0027722760569304228, + 1.2376079559326172, + 0.0020084178540855646, + 0.0032544347923249006, + 0.8059506416320801, + 0.7775649428367615, + -0.5295950770378113, + 0.0026885673869401217, + -0.006249108351767063, + -0.6009646654129028, + 0.002460646675899625, + 0.001981552690267563, + -0.600603461265564 + ], + "wrist_pos": [ + 0.28652337193489075, + 0.0050913128070533276, + 0.6922951340675354 + ], + "wrist_rot": [ + -0.5039949417114258, + 0.4500736594200134, + 0.5205773711204529, + 0.5219406485557556 + ], + "joint_positions": [ + 0.048916321247816086, + 0.004778754897415638 + ] + }, + { + "phase": "drag", + "step": 3, + "virtual_xyz": [ + 0.2850528359413147, + 0.004430840257555246, + 0.6919974684715271 + ], + "wrist_rpy": [ + -1.4858943223953247, + -0.061118822544813156, + 1.5176565647125244 + ], + "finger_dofs": [ + 1.1780911684036255, + 0.0174525436013937, + -0.030340081080794334, + 1.4756314754486084, + 0.0031948022078722715, + -0.0025944465305656195, + 1.1852399110794067, + -0.0020233786199241877, + 0.00020224119361955673, + 1.0913200378417969, + 0.0034295120276510715, + 0.05825866013765335, + 0.5937382578849792, + 0.013022449798882008, + -0.003194232704117894, + 1.1861109733581543, + -0.0030149538069963455, + 0.0022016067523509264, + -0.07894524931907654, + 0.09747900068759918, + -0.4253198206424713, + 0.5887426733970642, + -0.03353682532906532, + -0.007085030432790518, + 1.4102855920791626, + -0.002421726705506444, + -0.001843498321250081, + 1.598200798034668, + -0.014172397553920746, + 0.05411902815103531, + 1.26483952999115, + 0.0028340949211269617, + -0.0026802485808730125, + 1.236215353012085, + 0.0020357919856905937, + 0.003254504641517997, + 0.8064524531364441, + 0.7737457752227783, + -0.5321786403656006, + 0.0033706980757415295, + -0.007241819519549608, + -0.6009605526924133, + 0.0024672728031873703, + 0.002108193002641201, + -0.600768506526947 + ], + "wrist_pos": [ + 0.28505292534828186, + 0.004430838860571384, + 0.6919974088668823 + ], + "wrist_rot": [ + -0.5061236619949341, + 0.4489075243473053, + 0.521511435508728, + 0.5199487209320068 + ], + "joint_positions": [ + 0.05554145947098732, + 0.006227822508662939 + ] + }, + { + "phase": "drag", + "step": 4, + "virtual_xyz": [ + 0.28309762477874756, + 0.003938342444598675, + 0.6920623183250427 + ], + "wrist_rpy": [ + -1.487889051437378, + -0.06699781119823456, + 1.5182609558105469 + ], + "finger_dofs": [ + 1.1746315956115723, + 0.018882110714912415, + -0.030552543699741364, + 1.4793593883514404, + 0.0031386264599859715, + -0.002647068351507187, + 1.1841567754745483, + -0.002052174648270011, + 0.0004134405462536961, + 1.088361382484436, + 0.002856729319319129, + 0.058486565947532654, + 0.5943207740783691, + 0.010177165269851685, + -0.0027690327260643244, + 1.1847387552261353, + -0.002766313264146447, + 0.0021394556388258934, + -0.0716358870267868, + 0.09029966592788696, + -0.41951560974121094, + 0.591511607170105, + -0.030441703274846077, + -0.005809528287500143, + 1.4088928699493408, + -0.0024044939782470465, + -0.0018385476432740688, + 1.595091700553894, + -0.013673203997313976, + 0.05626342445611954, + 1.2693686485290527, + 0.0027308808639645576, + -0.0026413972955197096, + 1.2356151342391968, + 0.002024616114795208, + 0.00317291053943336, + 0.8036969900131226, + 0.7845947742462158, + -0.529975175857544, + 0.0027118332218378782, + -0.005151805467903614, + -0.5948599576950073, + 0.002490190789103508, + 0.002024563727900386, + -0.6026044487953186 + ], + "wrist_pos": [ + 0.2830977141857147, + 0.003938341047614813, + 0.692062258720398 + ], + "wrist_rot": [ + -0.5079476833343506, + 0.4479684829711914, + 0.5226159691810608, + 0.5178665518760681 + ], + "joint_positions": [ + 0.06296147406101227, + 0.00699617899954319 + ] + }, + { + "phase": "drag", + "step": 5, + "virtual_xyz": [ + 0.2810387909412384, + 0.0041837976314127445, + 0.691979169845581 + ], + "wrist_rpy": [ + -1.4923444986343384, + -0.06450095027685165, + 1.5202466249465942 + ], + "finger_dofs": [ + 1.2588833570480347, + 0.01737634278833866, + -0.028942136093974113, + 1.5246515274047852, + 0.004546290263533592, + -0.002467996906489134, + 1.1866679191589355, + -0.0018847552128136158, + 0.0004967645509168506, + 1.0709199905395508, + 0.0025335384998470545, + 0.054398998618125916, + 0.6134746670722961, + 0.011098522692918777, + -0.0026047048158943653, + 1.179656982421875, + -0.0030565722845494747, + 0.0020355135202407837, + -0.027732305228710175, + 0.0889362171292305, + -0.4170977473258972, + 0.5944791436195374, + -0.032936543226242065, + -0.005657816771417856, + 1.4063814878463745, + -0.0021925463806837797, + -0.0018044671742245555, + 1.5930999517440796, + -0.010830595158040524, + 0.06070895865559578, + 1.2737178802490234, + 0.0043485150672495365, + -0.002925456501543522, + 1.2116955518722534, + 0.0014424637192860246, + 0.0029046719428151846, + 0.8035567402839661, + 0.8130097389221191, + -0.5404531955718994, + 0.0035382092464715242, + -0.007283400744199753, + -0.579038679599762, + 0.002202362520620227, + 0.002195353154093027, + -0.6144124269485474 + ], + "wrist_pos": [ + 0.28103888034820557, + 0.004183796234428883, + 0.6919791102409363 + ], + "wrist_rot": [ + -0.5080428123474121, + 0.4503200650215149, + 0.5215364694595337, + 0.516821026802063 + ], + "joint_positions": [ + 0.07270239293575287, + 0.007168734911829233 + ] + }, + { + "phase": "drag", + "step": 6, + "virtual_xyz": [ + 0.2794514000415802, + 0.0037689008750021458, + 0.6916264295578003 + ], + "wrist_rpy": [ + -1.499531865119934, + -0.06775163859128952, + 1.5172736644744873 + ], + "finger_dofs": [ + 1.2729454040527344, + 0.018445299938321114, + -0.029115043580532074, + 1.5553261041641235, + 0.004423416219651699, + -0.0023771703708916903, + 1.1877981424331665, + -0.0016610129969194531, + 0.0008695040014572442, + 1.0770307779312134, + 0.002348837675526738, + 0.06252588331699371, + 0.6090599298477173, + 0.011572121642529964, + -0.002696831477805972, + 1.1803759336471558, + -0.0030501922592520714, + 0.0020666085183620453, + -0.007048875093460083, + 0.08475726842880249, + -0.40920698642730713, + 0.6483389139175415, + -0.033718716353178024, + -0.004353759344667196, + 1.4042866230010986, + -0.002314268844202161, + -0.0018299046205356717, + 1.5907167196273804, + -0.013815301470458508, + 0.06912031024694443, + 1.272425651550293, + 0.0028614960610866547, + -0.0024596736766397953, + 1.2061195373535156, + 0.0018530308734625578, + 0.0029760971665382385, + 0.8042047023773193, + 0.8204371929168701, + -0.5359295010566711, + 0.0028614795301109552, + -0.006847925018519163, + -0.582396388053894, + 0.0021475476678460836, + 0.0020303933415561914, + -0.6122646331787109 + ], + "wrist_pos": [ + 0.27945148944854736, + 0.0037688997108489275, + 0.6916263699531555 + ], + "wrist_rot": [ + -0.5113598108291626, + 0.4505448341369629, + 0.5199249982833862, + 0.5149742364883423 + ], + "joint_positions": [ + 0.08104288578033447, + 0.008118019439280033 + ] + }, + { + "phase": "drag", + "step": 7, + "virtual_xyz": [ + 0.27784883975982666, + 0.0033396289218217134, + 0.6913626194000244 + ], + "wrist_rpy": [ + -1.503470778465271, + -0.06978943943977356, + 1.5175243616104126 + ], + "finger_dofs": [ + 1.2694839239120483, + 0.018393516540527344, + -0.029714185744524002, + 1.5680792331695557, + 0.004712488502264023, + -0.002322826534509659, + 1.1863502264022827, + -0.0019446166697889566, + 0.0013756256084889174, + 1.06760835647583, + 0.0029778871685266495, + 0.06560860574245453, + 0.6074534058570862, + 0.012351312674582005, + -0.0029483807738870382, + 1.1817198991775513, + -0.0030472963117063046, + 0.0021388824097812176, + 0.009701553732156754, + 0.08568202704191208, + -0.409532755613327, + 0.6426834464073181, + -0.034585364162921906, + -0.0042541250586509705, + 1.404076099395752, + -0.002247892552986741, + -0.0018250526627525687, + 1.5904566049575806, + -0.013077972456812859, + 0.06904620677232742, + 1.274920105934143, + 0.003692283993586898, + -0.0025431395042687654, + 1.1952458620071411, + 0.0013192248297855258, + 0.0028400979936122894, + 0.8045050501823425, + 0.8266542553901672, + -0.5415521860122681, + 0.0033182299230247736, + -0.00789471436291933, + -0.576207160949707, + 0.0021348365116864443, + 0.002130113309249282, + -0.6155562400817871 + ], + "wrist_pos": [ + 0.2778489291667938, + 0.0033396282233297825, + 0.6913625597953796 + ], + "wrist_rot": [ + -0.5128108263015747, + 0.45107579231262207, + 0.51958829164505, + 0.5134040117263794 + ], + "joint_positions": [ + 0.0885172188282013, + 0.009171854704618454 + ] + }, + { + "phase": "drag", + "step": 8, + "virtual_xyz": [ + 0.27242377400398254, + 0.0056037683971226215, + 0.6932298541069031 + ], + "wrist_rpy": [ + -1.5001951456069946, + -0.08607658743858337, + 1.522018313407898 + ], + "finger_dofs": [ + 1.2465600967407227, + 0.005950564052909613, + -0.028291109949350357, + 1.5686438083648682, + 0.0014623724855482578, + -0.0017342519713565707, + 1.1936827898025513, + -0.0009705576812848449, + 0.00014433999604079872, + 1.0770976543426514, + 0.002332393079996109, + 0.07042882591485977, + 0.5368408560752869, + 0.004434735979884863, + -0.0027316350024193525, + 1.193286657333374, + -0.002300489693880081, + 0.002307993359863758, + 0.1918002963066101, + 0.04070478677749634, + -0.372016578912735, + 0.7352069020271301, + -0.01708466187119484, + 0.003153854748234153, + 1.3283381462097168, + -0.0025972493458539248, + -0.0019425083883106709, + 1.584285855293274, + -0.010861695744097233, + 0.07339873909950256, + 1.2286031246185303, + 0.00388700095936656, + -0.002868348965421319, + 1.2105119228363037, + 0.0007736951229162514, + 0.0030353160109370947, + 0.8018494844436646, + 0.9102505445480347, + -0.5215933918952942, + -0.0005341691430658102, + -0.004458591341972351, + -0.5514328479766846, + 0.0023880954831838608, + -0.0014823558740317822, + -0.6138688325881958 + ], + "wrist_pos": [ + 0.2724238634109497, + 0.005603766534477472, + 0.6932297945022583 + ], + "wrist_rot": [ + -0.5149055123329163, + 0.4469131827354431, + 0.5253372192382812, + 0.509079098701477 + ], + "joint_positions": [ + 0.10391056537628174, + 0.0039975871331989765 + ] + }, + { + "phase": "drag", + "step": 9, + "virtual_xyz": [ + 0.26961880922317505, + 0.00925979483872652, + 0.693503201007843 + ], + "wrist_rpy": [ + -1.506280779838562, + -0.09576042741537094, + 1.5310933589935303 + ], + "finger_dofs": [ + 1.2296756505966187, + 0.002731137443333864, + -0.012094519101083279, + 1.561255693435669, + -0.0032437611371278763, + -0.0018688197014853358, + 1.1968249082565308, + -0.0014879829250276089, + -0.00035635216045193374, + 1.090366005897522, + 0.0026279487647116184, + 0.06066903844475746, + 0.49579301476478577, + 0.004684896674007177, + -0.0023332044947892427, + 1.1778020858764648, + -0.0026496793143451214, + 0.0020793054718524218, + 0.49081316590309143, + 0.013632937334477901, + -0.34268274903297424, + 0.7175818085670471, + -0.005158295389264822, + 0.002277205465361476, + 1.2227039337158203, + -0.0021259442437440157, + -0.00011109499610029161, + 1.5836424827575684, + -0.014617743901908398, + 0.06506329774856567, + 1.0905431509017944, + 0.005625096149742603, + -0.0002794961619656533, + 1.1786656379699707, + -0.002057971665635705, + 0.002524447627365589, + 0.8051443099975586, + 0.9314785003662109, + -0.5419062376022339, + 0.0017915727803483605, + -0.005824454594403505, + -0.52415531873703, + 0.0023969667963683605, + -0.0018368139863014221, + -0.6221501231193542 + ], + "wrist_pos": [ + 0.2696188688278198, + 0.009259792044758797, + 0.6935031414031982 + ], + "wrist_rot": [ + -0.5167483687400818, + 0.4481998085975647, + 0.5285464525222778, + 0.5027191042900085 + ], + "joint_positions": [ + 0.11072414368391037, + 0.00047885917592793703 + ] + }, + { + "phase": "drag", + "step": 10, + "virtual_xyz": [ + 0.2677541673183441, + 0.014604593627154827, + 0.6941350102424622 + ], + "wrist_rpy": [ + -1.5234037637710571, + -0.09523218870162964, + 1.5364030599594116 + ], + "finger_dofs": [ + 1.2098249197006226, + 0.002262266818434, + -0.0013612298062071204, + 1.5632820129394531, + -0.0030803773552179337, + -0.0018704731483012438, + 1.2008850574493408, + -0.0007856268784962595, + -0.0008559243869967759, + 1.0910320281982422, + -0.0018409343902021646, + 0.06209682300686836, + 0.4714242219924927, + 0.002135342685505748, + -0.001798431039787829, + 1.175218939781189, + -0.0021361452527344227, + 0.002050814451649785, + 0.6943153142929077, + 0.009041167795658112, + -0.2080649584531784, + 0.8396778702735901, + -0.004630072973668575, + 0.0020781683269888163, + 1.1854461431503296, + -0.0019632969051599503, + -0.0017734556458890438, + 1.5626091957092285, + -0.02645345963537693, + 0.08663447946310043, + 0.9001249670982361, + 0.0071357861161231995, + 0.0030128175858408213, + 1.0989294052124023, + -0.0022914737928658724, + 0.0022290011402219534, + 0.8264009356498718, + 0.89935702085495, + -0.5394108891487122, + -0.00333383004181087, + -0.01063350960612297, + -0.510246992111206, + 0.0019337250851094723, + -0.00012901997251901776, + -0.6303914189338684 + ], + "wrist_pos": [ + 0.2677542567253113, + 0.014604588970541954, + 0.6941349506378174 + ], + "wrist_rot": [ + -0.5197033286094666, + 0.45423367619514465, + 0.5258862376213074, + 0.49701496958732605 + ], + "joint_positions": [ + 0.11398113518953323, + -2.371452145766284e-09 + ] + }, + { + "phase": "drag", + "step": 11, + "virtual_xyz": [ + 0.2658224403858185, + 0.014609257690608501, + 0.6940476894378662 + ], + "wrist_rpy": [ + -1.5373283624649048, + -0.10199224948883057, + 1.5416316986083984 + ], + "finger_dofs": [ + 1.191088318824768, + 0.0030766972340643406, + -0.0006086097564548254, + 1.5668567419052124, + -0.0022610966116189957, + -0.0018920996226370335, + 1.2010858058929443, + -0.0012002511648461223, + -0.0007738567655906081, + 1.095190405845642, + -0.0018497492419555783, + 0.0665348470211029, + 0.45404887199401855, + 0.0022663481067866087, + -0.0019403124460950494, + 1.1730599403381348, + -0.002197963185608387, + 0.0020753820426762104, + 0.7985984086990356, + 0.02219124510884285, + -0.15739963948726654, + 0.7831735014915466, + -0.003970300313085318, + -0.0025986386463046074, + 1.1623657941818237, + -0.0019338319543749094, + 0.001889568055048585, + 1.541131615638733, + -0.022224776446819305, + 0.09048214554786682, + 0.8465690612792969, + 0.006339011713862419, + 0.0025917738676071167, + 1.1011183261871338, + -0.002099166624248028, + 0.0023558461107313633, + 0.8259373903274536, + 0.7382668256759644, + -0.536518931388855, + -0.0035391312558203936, + -0.009314386174082756, + -0.5197895169258118, + 0.001867744605988264, + 0.0018167264061048627, + -0.6284953951835632 + ], + "wrist_pos": [ + 0.26582252979278564, + 0.014609253033995628, + 0.6940476298332214 + ], + "wrist_rot": [ + -0.5235599875450134, + 0.4574286639690399, + 0.5255992412567139, + 0.4902952313423157 + ], + "joint_positions": [ + 0.12049660086631775, + -6.291663023905159e-11 + ] + }, + { + "phase": "drag", + "step": 12, + "virtual_xyz": [ + 0.2638505697250366, + 0.014332110062241554, + 0.694109320640564 + ], + "wrist_rpy": [ + -1.5467629432678223, + -0.10882394015789032, + 1.5460032224655151 + ], + "finger_dofs": [ + 1.1950992345809937, + 0.013314937241375446, + -0.017156781628727913, + 1.580438494682312, + 0.001451220829039812, + 0.0009332967456430197, + 1.2020292282104492, + 0.00010923362424364313, + -0.0007381828618235886, + 1.0842581987380981, + -0.0022675199434161186, + 0.06431086361408234, + 0.4399498701095581, + -0.0023498425725847483, + 0.0018852833891287446, + 1.1739716529846191, + -0.002061963314190507, + 0.0020237688440829515, + 0.8405428528785706, + 0.019865384325385094, + -0.13883675634860992, + 0.7177262902259827, + -0.0032584723085165024, + -0.002537744352594018, + 1.1551005840301514, + -0.002027564449235797, + 0.0018431893549859524, + 1.5241299867630005, + -0.023096896708011627, + 0.09006740897893906, + 0.826900064945221, + 0.007374287582933903, + 0.002646433189511299, + 1.095450758934021, + -0.0021895375102758408, + 0.002199838636443019, + 0.8169400095939636, + 0.6679377555847168, + -0.5296943783760071, + -0.003264131024479866, + -0.007859954610466957, + -0.5216572880744934, + 0.0018399119144305587, + 0.0018135006539523602, + -0.6279799938201904 + ], + "wrist_pos": [ + 0.2638506591320038, + 0.014332105405628681, + 0.6941092610359192 + ], + "wrist_rot": [ + -0.5264749526977539, + 0.4592161178588867, + 0.5261162519454956, + 0.4849187433719635 + ], + "joint_positions": [ + 0.12450647354125977, + 0.00017645914340391755 + ] + }, + { + "phase": "drag", + "step": 13, + "virtual_xyz": [ + 0.2618649899959564, + 0.013121585361659527, + 0.6941168308258057 + ], + "wrist_rpy": [ + -1.5514211654663086, + -0.11667165160179138, + 1.550447702407837 + ], + "finger_dofs": [ + 1.270237922668457, + 0.0025908262468874454, + -0.008728456683456898, + 1.5915254354476929, + -0.0009004922467283905, + 4.567933046928374e-06, + 1.2030433416366577, + -0.0008499019895680249, + -0.0006753328489139676, + 1.0443146228790283, + 0.0018839692929759622, + 0.05775652453303337, + 0.507925808429718, + 0.0031664161942899227, + 0.001317270565778017, + 1.1694120168685913, + -0.0023706830106675625, + 0.001910220948047936, + 0.8244181275367737, + 0.021665139123797417, + -0.13973428308963776, + 0.7050840258598328, + -0.002962991828098893, + -0.0024108209181576967, + 1.159335732460022, + -0.002057128818705678, + 0.0017872856697067618, + 1.5029715299606323, + -0.02261981926858425, + 0.08636359870433807, + 0.8456317186355591, + 0.007128515280783176, + 0.0027811622712761164, + 1.1002532243728638, + -0.0022379544097930193, + 0.001992859411984682, + 0.800744891166687, + 0.7479317784309387, + -0.5249327421188354, + -0.002655251184478402, + -0.003730544587597251, + -0.5156065225601196, + 0.0018121518660336733, + 0.0018523473991081119, + -0.6322150230407715 + ], + "wrist_pos": [ + 0.2618650794029236, + 0.013121581636369228, + 0.6941167712211609 + ], + "wrist_rot": [ + -0.5284252166748047, + 0.4595056176185608, + 0.5279677510261536, + 0.48049071431159973 + ], + "joint_positions": [ + 0.1275770366191864, + 0.000463872158434242 + ] + }, + { + "phase": "drag", + "step": 14, + "virtual_xyz": [ + 0.25995272397994995, + 0.011210289783775806, + 0.6940715909004211 + ], + "wrist_rpy": [ + -1.5515410900115967, + -0.12732172012329102, + 1.5518983602523804 + ], + "finger_dofs": [ + 1.2915703058242798, + 0.0021818033419549465, + -0.001025523291900754, + 1.5929888486862183, + 0.0009006928885355592, + -7.574429764645174e-05, + 1.2033348083496094, + -0.001073320279829204, + -0.0006621744250878692, + 1.016114592552185, + 0.003046417608857155, + 0.05739901214838028, + 0.5539629459381104, + 0.008043457753956318, + -0.002482856158167124, + 1.1599243879318237, + -0.003016227390617132, + 0.002052204916253686, + 0.77421635389328, + 0.02622544951736927, + -0.1431683450937271, + 0.7397037148475647, + -0.0025680505204945803, + -0.002719015581533313, + 1.162040114402771, + -0.0021266741678118706, + 0.001779091195203364, + 1.4829514026641846, + -0.022102778777480125, + 0.0849493145942688, + 0.8869426250457764, + 0.0065744235180318356, + 0.0025216354988515377, + 1.1130144596099854, + -0.002183729549869895, + 0.002145690144971013, + 0.7757272124290466, + 0.9405978322029114, + -0.5063442587852478, + -0.002556983381509781, + -0.0027499618008732796, + -0.522402822971344, + 0.0018758823862299323, + 0.0018690988654270768, + -0.6307756900787354 + ], + "wrist_pos": [ + 0.2599528133869171, + 0.011210285127162933, + 0.6940715312957764 + ], + "wrist_rot": [ + -0.5306159257888794, + 0.45705297589302063, + 0.5307828187942505, + 0.47730377316474915 + ], + "joint_positions": [ + 0.13175342977046967, + 0.0005956527311354876 + ] + }, + { + "phase": "drag", + "step": 15, + "virtual_xyz": [ + 0.25766947865486145, + 0.01103917695581913, + 0.694118857383728 + ], + "wrist_rpy": [ + -1.5538543462753296, + -0.12860548496246338, + 1.5569369792938232 + ], + "finger_dofs": [ + 1.3227689266204834, + 0.0003266981802880764, + -0.00481453537940979, + 1.5986169576644897, + 0.002094042720273137, + -0.00037518003955483437, + 1.2029674053192139, + -0.0012315359199419618, + -0.0005558539996854961, + 0.965788722038269, + 0.003020567586645484, + 0.05089043080806732, + 0.5777768492698669, + 0.008819048292934895, + -0.002062566112726927, + 1.1438748836517334, + -0.00339893763884902, + 0.001594112953171134, + 0.718623161315918, + 0.026543794199824333, + -0.13373680412769318, + 0.7200238704681396, + 0.00296341092325747, + -0.0029486953280866146, + 1.1360948085784912, + -0.002286595059558749, + -0.0018480491125956178, + 1.4241284132003784, + -0.01664445362985134, + 0.08156641572713852, + 0.9250791668891907, + 0.007087660487741232, + 0.002284471644088626, + 1.1040221452713013, + -0.002307804999873042, + 0.0008518602699041367, + 0.7438344359397888, + 1.0690792798995972, + -0.5174533724784851, + -0.0014043244300410151, + -0.003453565062955022, + -0.490924596786499, + 0.0020039144437760115, + -0.002014211844652891, + -0.6406477689743042 + ], + "wrist_pos": [ + 0.2576695680618286, + 0.011039173230528831, + 0.6941187977790833 + ], + "wrist_rot": [ + -0.5303131937980652, + 0.4586578905582428, + 0.5317522883415222, + 0.47501617670059204 + ], + "joint_positions": [ + 0.1287892758846283, + 0.0007343671750277281 + ] + }, + { + "phase": "drag", + "step": 16, + "virtual_xyz": [ + 0.2553758919239044, + 0.00969640165567398, + 0.6941711902618408 + ], + "wrist_rpy": [ + -1.5605964660644531, + -0.12321333587169647, + 1.5673191547393799 + ], + "finger_dofs": [ + 1.425763726234436, + -0.010294804349541664, + 0.048089269548654556, + 1.5902925729751587, + 0.000983165460638702, + 0.0012272410094738007, + 1.2022242546081543, + 0.0007560862577520311, + -0.00020862378005404025, + 0.853769063949585, + 0.003133967285975814, + 0.035690873861312866, + 0.6507289409637451, + 0.012372266501188278, + 0.0017313858261331916, + 1.1121363639831543, + -0.0040870844386518, + -0.0019430407555773854, + 0.5977877378463745, + 0.03237811475992203, + -0.12975893914699554, + 0.70343416929245, + 0.004298878367990255, + -0.0031168656423687935, + 1.0960558652877808, + -0.002408154308795929, + -0.0018044532043859363, + 1.3359895944595337, + -0.01421627588570118, + 0.06655123829841614, + 1.040034532546997, + 0.004922693595290184, + 0.0025208150036633015, + 1.1035983562469482, + -0.002252117730677128, + -0.0018625158118084073, + 0.6809272170066833, + 1.1321033239364624, + -0.5590354204177856, + 0.0022505982778966427, + -0.0038439533673226833, + -0.4015589654445648, + 0.0021378502715379, + -0.002402478363364935, + -0.6572402715682983 + ], + "wrist_pos": [ + 0.2553759813308716, + 0.009696399793028831, + 0.694171130657196 + ], + "wrist_rot": [ + -0.52824866771698, + 0.4646417498588562, + 0.5313969254493713, + 0.4718884229660034 + ], + "joint_positions": [ + 0.11996039003133774, + 0.00046403612941503525 + ] + }, + { + "phase": "drag", + "step": 17, + "virtual_xyz": [ + 0.2535627782344818, + 0.007717289961874485, + 0.6941792368888855 + ], + "wrist_rpy": [ + -1.5612467527389526, + -0.14164869487285614, + 1.5701206922531128 + ], + "finger_dofs": [ + 1.4320873022079468, + -0.006026081275194883, + 0.03233001381158829, + 1.60820472240448, + -0.0020489993039518595, + 0.0017685467610135674, + 1.2029976844787598, + -0.00038141151890158653, + -0.00020309224782977253, + 0.8467801213264465, + 0.003716891398653388, + 0.03715309500694275, + 0.619560956954956, + 0.013718967325985432, + -0.0022101548966020346, + 1.1073607206344604, + -0.004228977486491203, + -0.0013903563376516104, + 0.5728945136070251, + 0.025625718757510185, + -0.12084471434354782, + 0.6487752199172974, + 0.002624373184517026, + -0.0023695258423686028, + 1.0781916379928589, + -0.0022549834102392197, + -0.0009460512083023787, + 1.3084495067596436, + -0.012361682020127773, + 0.06456349790096283, + 1.0630937814712524, + 0.004102500155568123, + 0.0023492954205721617, + 1.1205130815505981, + -0.0021237803157418966, + 0.001852767774835229, + 0.6755347847938538, + 1.1735248565673828, + -0.564594030380249, + 0.0022876765578985214, + -0.003756822319701314, + -0.38859814405441284, + 0.0023551590275019407, + -0.002781109418720007, + -0.6479333639144897 + ], + "wrist_pos": [ + 0.253562867641449, + 0.0077172876335680485, + 0.6941791772842407 + ], + "wrist_rot": [ + -0.5320659279823303, + 0.4606285095214844, + 0.5361779928207397, + 0.4660903513431549 + ], + "joint_positions": [ + 0.11806924641132355, + 0.00017842579109128565 + ] + }, + { + "phase": "drag", + "step": 18, + "virtual_xyz": [ + 0.25168901681900024, + 0.005687922239303589, + 0.6942142248153687 + ], + "wrist_rpy": [ + -1.558528184890747, + -0.1603560596704483, + 1.571527361869812 + ], + "finger_dofs": [ + 1.4330546855926514, + -0.00614033080637455, + 0.029197610914707184, + 1.6092547178268433, + -0.001849638414569199, + 0.0007192936609499156, + 1.2030699253082275, + -0.0013931200373917818, + -0.00028601285885088146, + 0.8577425479888916, + 0.00408041151240468, + 0.036705534905195236, + 0.5757960081100464, + 0.012870201840996742, + -0.002236931351944804, + 1.1113057136535645, + -0.004104675259441137, + 0.0004129729641135782, + 0.5405679941177368, + 0.022300925105810165, + -0.11744015663862228, + 0.6423900127410889, + 0.0024168866220861673, + -0.0018554710550233722, + 1.0808652639389038, + -0.0022562674712389708, + -0.0009157736203633249, + 1.3009265661239624, + -0.013506629504263401, + 0.05541451275348663, + 1.067261815071106, + 0.003246802370995283, + 0.002536958083510399, + 1.1394990682601929, + -0.0019863520283252, + 0.0018740834202617407, + 0.6821860671043396, + 1.2069236040115356, + -0.55154949426651, + 0.002012869343161583, + -0.0031613411847501993, + -0.40710684657096863, + 0.002161129843443632, + -0.002451350912451744, + -0.6415331363677979 + ], + "wrist_pos": [ + 0.2516891062259674, + 0.005687919910997152, + 0.6942141652107239 + ], + "wrist_rot": [ + -0.5354517102241516, + 0.4552316963672638, + 0.5414099097251892, + 0.4614441692829132 + ], + "joint_positions": [ + 0.12079548090696335, + 5.217347279540263e-05 + ] + }, + { + "phase": "drag", + "step": 19, + "virtual_xyz": [ + 0.24969972670078278, + 0.004878256469964981, + 0.6942380666732788 + ], + "wrist_rpy": [ + -1.5563786029815674, + -0.17265218496322632, + 1.5719748735427856 + ], + "finger_dofs": [ + 1.4382387399673462, + -0.005979136563837528, + 0.026896856725215912, + 1.6049394607543945, + -0.0017426122212782502, + 5.6805878557497635e-05, + 1.2031166553497314, + -0.0016199570382013917, + -0.00042577620479278266, + 0.8635457754135132, + 0.0032916534692049026, + 0.034976620227098465, + 0.5171722173690796, + 0.006701886188238859, + -0.0007257098332047462, + 1.1196404695510864, + -0.0035093582700937986, + 0.0011550956405699253, + 0.5428182482719421, + 0.019207028672099113, + -0.09780286997556686, + 0.6224779486656189, + 0.004003909416496754, + -0.002230043290182948, + 1.0462192296981812, + -0.002411787398159504, + -0.001837183372117579, + 1.2851351499557495, + -0.012132955715060234, + 0.05407395213842392, + 1.045544147491455, + 0.002564388560131192, + 0.0027799238450825214, + 1.1396666765213013, + -0.0019256356172263622, + 0.0018259788630530238, + 0.6875168681144714, + 1.2237812280654907, + -0.5514728426933289, + 0.0020470754243433475, + -0.003490730421617627, + -0.396609365940094, + 0.0024357822258025408, + -0.002861261833459139, + -0.6404716372489929 + ], + "wrist_pos": [ + 0.24969981610774994, + 0.004878255072981119, + 0.694238007068634 + ], + "wrist_rot": [ + -0.5376872420310974, + 0.45143184065818787, + 0.5447839498519897, + 0.45859798789024353 + ], + "joint_positions": [ + 0.12459591776132584, + -5.881087838943699e-10 + ] + }, + { + "phase": "drag", + "step": 20, + "virtual_xyz": [ + 0.24762316048145294, + 0.003979494795203209, + 0.6942988038063049 + ], + "wrist_rpy": [ + -1.555140733718872, + -0.1857231855392456, + 1.57078218460083 + ], + "finger_dofs": [ + 1.4436430931091309, + -0.008016824722290039, + 0.029740678146481514, + 1.5988324880599976, + -0.002162500284612179, + -0.0004699360579252243, + 1.204058289527893, + -0.0017983739962801337, + -0.0007371983374468982, + 0.8623443841934204, + 0.0023958664387464523, + 0.03490068390965462, + 0.4598821997642517, + 0.004111777059733868, + 0.002014845609664917, + 1.1307207345962524, + -0.0031425515189766884, + 0.0017014143522828817, + 0.5366320013999939, + 0.01503568422049284, + -0.07705595344305038, + 0.6079368591308594, + 0.0037315532099455595, + -0.0020785483065992594, + 1.015644907951355, + -0.00235889945179224, + -0.0018194600706920028, + 1.2657856941223145, + -0.01187850534915924, + 0.05400386452674866, + 1.0175995826721191, + 0.0021931733936071396, + 0.002722731325775385, + 1.1485540866851807, + -0.0008042471017688513, + 0.001902202027849853, + 0.6851779222488403, + 1.2298052310943604, + -0.5602877736091614, + 0.0023423428647220135, + -0.004107412416487932, + -0.3674604892730713, + 0.0026914847549051046, + -0.003486772533506155, + -0.6375668048858643 + ], + "wrist_pos": [ + 0.2476232796907425, + 0.00397949293255806, + 0.6942987442016602 + ], + "wrist_rot": [ + -0.5406619310379028, + 0.44720420241355896, + 0.5477240085601807, + 0.45573171973228455 + ], + "joint_positions": [ + 0.1284218281507492, + -2.4250863539521106e-09 + ] + }, + { + "phase": "drag", + "step": 21, + "virtual_xyz": [ + 0.24570327997207642, + 0.002885431284084916, + 0.6942273378372192 + ], + "wrist_rpy": [ + -1.5564614534378052, + -0.19571930170059204, + 1.5703893899917603 + ], + "finger_dofs": [ + 1.437560796737671, + -0.008762278594076633, + 0.03204860910773277, + 1.5948950052261353, + -0.002859305590391159, + -0.0009895235998556018, + 1.2034558057785034, + -0.001751263509504497, + -0.0006807846948504448, + 0.8424844741821289, + 0.001996496692299843, + 0.03569105640053749, + 0.4556688368320465, + 0.003102643648162484, + 0.0021456058602780104, + 1.139499545097351, + -0.002901280065998435, + 0.0015387936728075147, + 0.5389692783355713, + 0.015470677055418491, + -0.06418757140636444, + 0.5815377831459045, + 0.0036673457361757755, + -0.002318797167390585, + 0.9983839392662048, + -0.0023743556812405586, + -0.0018449319759383798, + 1.2501897811889648, + -0.010121527127921581, + 0.05298754572868347, + 1.0028076171875, + 0.0018906298791989684, + 0.00277421111240983, + 1.149172306060791, + -0.0007262421422637999, + 0.001823708415031433, + 0.6773919463157654, + 1.2281534671783447, + -0.5736592411994934, + 0.002639157697558403, + -0.004368463531136513, + -0.33329224586486816, + 0.0026591583155095577, + -0.003574918257072568, + -0.63720703125 + ], + "wrist_pos": [ + 0.24570339918136597, + 0.002885430585592985, + 0.6942272782325745 + ], + "wrist_rot": [ + -0.5433194041252136, + 0.44471731781959534, + 0.5495697855949402, + 0.45277300477027893 + ], + "joint_positions": [ + 0.1330120712518692, + -1.7886878644901572e-09 + ] + }, + { + "phase": "drag", + "step": 22, + "virtual_xyz": [ + 0.24380911886692047, + 0.002318689599633217, + 0.6941450834274292 + ], + "wrist_rpy": [ + -1.5595479011535645, + -0.20667895674705505, + 1.5692121982574463 + ], + "finger_dofs": [ + 1.4323256015777588, + -0.006396208889782429, + 0.0350881852209568, + 1.5924519300460815, + -0.00173027568962425, + -0.0003884120669681579, + 1.2026160955429077, + -0.0010179770179092884, + -0.0005402954411692917, + 0.8241980075836182, + -0.0019377548014745116, + 0.04025156423449516, + 0.44278058409690857, + 0.004069091286510229, + 0.0022101495414972305, + 1.1357020139694214, + -0.003007678547874093, + 0.001551229041069746, + 0.5697612762451172, + 0.01356441993266344, + -0.04286584258079529, + 0.527915894985199, + 0.004621191881597042, + -0.0029031713493168354, + 0.964688241481781, + -0.002453305060043931, + -0.00026005812105722725, + 1.2394827604293823, + -0.00963806826621294, + 0.05816147103905678, + 0.9650866985321045, + 0.0029493984766304493, + 0.002591435331851244, + 1.1440315246582031, + -0.0005021290853619576, + 0.0018719821237027645, + 0.6820758581161499, + 1.2282987833023071, + -0.548743486404419, + 0.002232008846476674, + -0.003394045401364565, + -0.34365975856781006, + 0.0025033503770828247, + -0.0031484959181398153, + -0.6353273987770081 + ], + "wrist_pos": [ + 0.24380922317504883, + 0.0023186891339719296, + 0.6941450238227844 + ], + "wrist_rot": [ + -0.5467450022697449, + 0.4422275722026825, + 0.5510530471801758, + 0.4492717385292053 + ], + "joint_positions": [ + 0.13631221652030945, + 8.899298336473294e-06 + ] + }, + { + "phase": "drag", + "step": 23, + "virtual_xyz": [ + 0.24190406501293182, + 0.0016645570285618305, + 0.6940904259681702 + ], + "wrist_rpy": [ + -1.5623996257781982, + -0.21991443634033203, + 1.5685935020446777 + ], + "finger_dofs": [ + 1.4056692123413086, + -0.007760318927466869, + 0.03370651602745056, + 1.5921717882156372, + -0.002936356468126178, + -0.000383956910809502, + 1.2017220258712769, + -0.0006703093531541526, + -0.00038276027771644294, + 0.8016481399536133, + -0.0027627761010080576, + 0.04446162283420563, + 0.44660598039627075, + -0.002155846217647195, + 0.002407232765108347, + 1.1499595642089844, + -0.0024618024472147226, + 0.0018133004195988178, + 0.6186832189559937, + 0.010200269520282745, + -0.02803916297852993, + 0.45010489225387573, + 0.007178168743848801, + -0.0028202456887811422, + 0.9276846647262573, + -0.002589254640042782, + 0.0015467825578525662, + 1.23149573802948, + -0.008680527098476887, + 0.06376738101243973, + 0.9117926359176636, + 0.0030579357407987118, + 0.0026570071931928396, + 1.1415659189224243, + -0.0011337128235027194, + 0.0019205781864002347, + 0.6845771670341492, + 1.2331359386444092, + -0.5406963229179382, + 0.002288865391165018, + -0.0037967865355312824, + -0.3381362557411194, + 0.0027161724865436554, + -0.003686810377985239, + -0.6317923665046692 + ], + "wrist_pos": [ + 0.24190416932106018, + 0.001664556097239256, + 0.6940903663635254 + ], + "wrist_rot": [ + -0.5504711866378784, + 0.4391857981681824, + 0.5532095432281494, + 0.44503527879714966 + ], + "joint_positions": [ + 0.13916979730129242, + 6.274075713008642e-05 + ] + }, + { + "phase": "drag", + "step": 24, + "virtual_xyz": [ + 0.24001534283161163, + 0.0003956392756663263, + 0.6940749883651733 + ], + "wrist_rpy": [ + -1.5642732381820679, + -0.23524385690689087, + 1.5694180727005005 + ], + "finger_dofs": [ + 1.3846018314361572, + -0.005571282934397459, + 0.0292495246976614, + 1.592866063117981, + -0.002436127746477723, + -5.77381688344758e-05, + 1.2012802362442017, + -0.00029923475813120604, + -0.0002897640224546194, + 0.7919508218765259, + -0.002370568225160241, + 0.03774678707122803, + 0.4262210726737976, + -0.0056436071172356606, + 0.003221470396965742, + 1.165115475654602, + 0.00015075983537826687, + 0.0018207774264737964, + 0.6628091335296631, + 0.009331502951681614, + -0.02235071361064911, + 0.3759068548679352, + 0.009760474786162376, + -0.00351848010905087, + 0.9036123752593994, + -0.002766525838524103, + 0.0018914499087259173, + 1.2329702377319336, + -0.006803999654948711, + 0.06176147609949112, + 0.865074872970581, + 0.0033489170018583536, + 0.0024729648139327765, + 1.1553637981414795, + -0.000697981275152415, + 0.002059004735201597, + 0.6908668279647827, + 1.234839677810669, + -0.5304078459739685, + 0.002157076494768262, + -0.0035432595759630203, + -0.34260129928588867, + 0.0025620823726058006, + -0.003497065743431449, + -0.6287091970443726 + ], + "wrist_pos": [ + 0.24001544713974, + 0.0003956388682126999, + 0.6940749287605286 + ], + "wrist_rot": [ + -0.5540898442268372, + 0.4356750249862671, + 0.556342601776123, + 0.4400620758533478 + ], + "joint_positions": [ + 0.14287637174129486, + 4.2135765397688374e-05 + ] + }, + { + "phase": "drag", + "step": 25, + "virtual_xyz": [ + 0.23812946677207947, + -0.0010456243762746453, + 0.6940587162971497 + ], + "wrist_rpy": [ + -1.566117525100708, + -0.24690310657024384, + 1.570946216583252 + ], + "finger_dofs": [ + 1.3677445650100708, + -0.003539125667884946, + 0.02220165729522705, + 1.5950511693954468, + -0.0021018311381340027, + -1.2229540516273119e-05, + 1.2004855871200562, + -9.708811558084562e-05, + -0.0001107225107261911, + 0.7574474215507507, + 0.0021575705613940954, + 0.035048410296440125, + 0.45850127935409546, + -0.002489392878487706, + 0.002303874120116234, + 1.168800711631775, + -0.00230940873734653, + 0.0017935860669240355, + 0.6723278760910034, + 0.008543835021555424, + -0.021645793691277504, + 0.34456726908683777, + 0.009530803188681602, + -0.0029423825908452272, + 0.8777604103088379, + -0.0026512553449720144, + 0.0018703798996284604, + 1.22225821018219, + -0.004442587029188871, + 0.05758773908019066, + 0.8397954106330872, + 0.00246995547786355, + 0.0025265952572226524, + 1.1646045446395874, + -0.0005565921892412007, + 0.001981946174055338, + 0.6919726729393005, + 1.2354357242584229, + -0.520830512046814, + 0.0021453173831105232, + -0.003480523591861129, + -0.35325703024864197, + 0.002512637758627534, + -0.0034888219088315964, + -0.6279979348182678 + ], + "wrist_pos": [ + 0.23812955617904663, + -0.0010456237941980362, + 0.6940586566925049 + ], + "wrist_rot": [ + -0.5567129254341125, + 0.4333614110946655, + 0.558811604976654, + 0.4358876645565033 + ], + "joint_positions": [ + 0.14749236404895782, + 3.677424683701247e-05 + ] + }, + { + "phase": "drag", + "step": 26, + "virtual_xyz": [ + 0.23626846075057983, + -0.0023908698931336403, + 0.6940596103668213 + ], + "wrist_rpy": [ + -1.5660649538040161, + -0.2594657242298126, + 1.5714505910873413 + ], + "finger_dofs": [ + 1.3605859279632568, + -0.003585963509976864, + 0.018976224586367607, + 1.5956659317016602, + -0.0023027174174785614, + -0.0002256217267131433, + 1.2004356384277344, + -0.00019128927669953555, + -0.000111686676973477, + 0.7453221082687378, + 0.0018254094757139683, + 0.03537997975945473, + 0.45647379755973816, + -0.0036972505040466785, + 0.002712460933253169, + 1.1721556186676025, + -0.001993808662518859, + 0.0018175573786720634, + 0.6855884194374084, + 0.007076213601976633, + -0.018935492262244225, + 0.31610092520713806, + 0.010866749100387096, + -0.003245087806135416, + 0.8617469072341919, + -0.0027748842258006334, + 0.0019394549308344722, + 1.220833420753479, + -0.005248108878731728, + 0.053591471165418625, + 0.8161535859107971, + 0.0024727594573050737, + 0.002556928200647235, + 1.1757445335388184, + 0.0006908208597451448, + 0.0020799399353563786, + 0.6926640868186951, + 1.2376456260681152, + -0.5256304144859314, + 0.002292119897902012, + -0.003931153565645218, + -0.34431859850883484, + 0.0026848013512790203, + -0.0039072539657354355, + -0.6259586215019226 + ], + "wrist_pos": [ + 0.2362685650587082, + -0.0023908689618110657, + 0.6940595507621765 + ], + "wrist_rot": [ + -0.5593208074569702, + 0.42996934056282043, + 0.5616425275802612, + 0.4322548508644104 + ], + "joint_positions": [ + 0.15315859019756317, + 2.4679058697074652e-05 + ] + }, + { + "phase": "drag", + "step": 27, + "virtual_xyz": [ + 0.23441481590270996, + -0.0038404413498938084, + 0.6940636038780212 + ], + "wrist_rpy": [ + -1.565839171409607, + -0.2707970142364502, + 1.5717580318450928 + ], + "finger_dofs": [ + 1.3552278280258179, + -0.003520339960232377, + 0.017470363527536392, + 1.5954713821411133, + -0.0022352824453264475, + -0.0002859676314983517, + 1.2005220651626587, + -0.00025298280525021255, + -0.00013001219485886395, + 0.7400286197662354, + 0.001960794674232602, + 0.03479370102286339, + 0.4500032663345337, + -0.004294530488550663, + 0.0028599912766367197, + 1.1762267351150513, + -0.0010616629151627421, + 0.0018257683841511607, + 0.6840262413024902, + 0.0051665520295500755, + -0.017664173617959023, + 0.3093016743659973, + 0.009562848135828972, + -0.002332103904336691, + 0.8473090529441833, + -0.00257924129255116, + 0.0019347413908690214, + 1.2175592184066772, + -0.004594114143401384, + 0.050974708050489426, + 0.8006476759910583, + 0.00249089440330863, + 0.0025170487351715565, + 1.1815601587295532, + 0.0014939728425815701, + 0.0020730411633849144, + 0.6914064288139343, + 1.237322449684143, + -0.5328768491744995, + 0.0024015181697905064, + -0.003969559445977211, + -0.3297431766986847, + 0.0026589760091155767, + -0.003893959568813443, + -0.625137448310852 + ], + "wrist_pos": [ + 0.2344149351119995, + -0.0038404399529099464, + 0.6940635442733765 + ], + "wrist_rot": [ + -0.5616487860679626, + 0.426804780960083, + 0.5641815662384033, + 0.4290542006492615 + ], + "joint_positions": [ + 0.15983553230762482, + 1.4355411622091196e-05 + ] + }, + { + "phase": "drag", + "step": 28, + "virtual_xyz": [ + 0.23255278170108795, + -0.005239961668848991, + 0.6940675377845764 + ], + "wrist_rpy": [ + -1.5659887790679932, + -0.2825049161911011, + 1.571865200996399 + ], + "finger_dofs": [ + 1.349090576171875, + -0.0030517959967255592, + 0.01582546904683113, + 1.5951151847839355, + -0.0021238140761852264, + -0.0002319665509276092, + 1.200634241104126, + -0.00022847120999358594, + -0.0001549377484479919, + 0.7340197563171387, + -0.0018444505985826254, + 0.03544377163052559, + 0.4461877644062042, + -0.004839252680540085, + 0.003102873917669058, + 1.177738904953003, + 0.0017510602483525872, + 0.0018210732378065586, + 0.694525957107544, + 0.005173962097615004, + -0.015025457367300987, + 0.2969367206096649, + 0.010680729523301125, + -0.0026812225114554167, + 0.8317499160766602, + -0.002674324903637171, + 0.0019716850947588682, + 1.219387412071228, + -0.004506309051066637, + 0.04995373636484146, + 0.7834013104438782, + 0.00253461510874331, + 0.002533127088099718, + 1.1855140924453735, + 0.0017383566591888666, + 0.002102345461025834, + 0.690660297870636, + 1.2357966899871826, + -0.5358054637908936, + 0.0025475886650383472, + -0.004053309094160795, + -0.31975555419921875, + 0.0026836073957383633, + -0.003999838139861822, + -0.6240624785423279 + ], + "wrist_pos": [ + 0.2325528860092163, + -0.005239959806203842, + 0.6940674781799316 + ], + "wrist_rot": [ + -0.564163088798523, + 0.4235697388648987, + 0.5666583180427551, + 0.42568403482437134 + ], + "joint_positions": [ + 0.16702483594417572, + 4.275706942280522e-06 + ] + }, + { + "phase": "drag", + "step": 29, + "virtual_xyz": [ + 0.230693519115448, + -0.006640877574682236, + 0.6940627694129944 + ], + "wrist_rpy": [ + -1.5662184953689575, + -0.29297569394111633, + 1.5722249746322632 + ], + "finger_dofs": [ + 1.3479619026184082, + -0.003173830918967724, + 0.015057159587740898, + 1.5950429439544678, + -0.002140798605978489, + -0.00038424821104854345, + 1.2005300521850586, + -0.0003451192460488528, + -0.0001276926777791232, + 0.7170716524124146, + 0.0026704026386141777, + 0.03566071018576622, + 0.47815924882888794, + -0.0017506255535408854, + 0.001954353181645274, + 1.1758047342300415, + -0.002413046546280384, + 0.00182436837349087, + 0.7006551027297974, + 0.0044835456646978855, + -0.01273550558835268, + 0.28295159339904785, + 0.010349833406507969, + -0.002642800798639655, + 0.8288740515708923, + -0.002659954596310854, + 0.0019665462896227837, + 1.2184959650039673, + -0.004233916290104389, + 0.04792516306042671, + 0.7704476714134216, + 0.0026198553387075663, + 0.00253246258944273, + 1.1850913763046265, + 0.0013804740738123655, + 0.0020928680896759033, + 0.6903573870658875, + 1.2343171834945679, + -0.5408709049224854, + 0.002650604350492358, + -0.004149637650698423, + -0.309659868478775, + 0.0026742841582745314, + -0.004012156743556261, + -0.6239940524101257 + ], + "wrist_pos": [ + 0.23069360852241516, + -0.0066408757120370865, + 0.6940627098083496 + ], + "wrist_rot": [ + -0.5663599967956543, + 0.42076700925827026, + 0.5688926577568054, + 0.42255479097366333 + ], + "joint_positions": [ + 0.17437995970249176, + 1.1372702601875062e-06 + ] + }, + { + "phase": "drag", + "step": 30, + "virtual_xyz": [ + 0.22885523736476898, + -0.008057362399995327, + 0.6940608024597168 + ], + "wrist_rpy": [ + -1.5660003423690796, + -0.30218303203582764, + 1.5723387002944946 + ], + "finger_dofs": [ + 1.3515546321868896, + -0.0029610376805067062, + 0.013215126469731331, + 1.596152424812317, + -0.0021472324151545763, + 2.8288941393839195e-05, + 1.2006151676177979, + -9.7404103144072e-05, + -0.00013371047680266201, + 0.7098339200019836, + 0.0026536667719483376, + 0.03617177531123161, + 0.48427414894104004, + -0.0020772095303982496, + 0.0020412204321473837, + 1.1735862493515015, + -0.0023381884675472975, + 0.0018432954093441367, + 0.6933797597885132, + 0.004403933882713318, + -0.012408318929374218, + 0.28858277201652527, + 0.009813678450882435, + -0.002024193527176976, + 0.8144128322601318, + -0.002535413019359112, + 0.0019522716756910086, + 1.213997483253479, + -0.00398611044511199, + 0.04640994966030121, + 0.7673962116241455, + 0.0026365749072283506, + 0.0024943118914961815, + 1.184789776802063, + 0.0013390410458669066, + 0.0020880678202956915, + 0.6881466507911682, + 1.2338517904281616, + -0.5460061430931091, + 0.002752613974735141, + -0.004199187271296978, + -0.29852813482284546, + 0.0026843177620321512, + -0.004067780449986458, + -0.6242612600326538 + ], + "wrist_pos": [ + 0.22885534167289734, + -0.008057359606027603, + 0.694060742855072 + ], + "wrist_rot": [ + -0.5682334899902344, + 0.4181162714958191, + 0.5708895325660706, + 0.4199696481227875 + ], + "joint_positions": [ + 0.18180914223194122, + 3.0676690698783204e-07 + ] + }, + { + "phase": "drag", + "step": 31, + "virtual_xyz": [ + 0.22702448070049286, + -0.00948647316545248, + 0.6940579414367676 + ], + "wrist_rpy": [ + -1.5655325651168823, + -0.31150245666503906, + 1.5723713636398315 + ], + "finger_dofs": [ + 1.3530380725860596, + -0.0026099570095539093, + 0.011870699003338814, + 1.5970990657806396, + -0.0016105102840811014, + 0.00025443764752708375, + 1.200673222541809, + 5.5381104175467044e-05, + -0.00014322732749860734, + 0.708705723285675, + 0.0026664098259061575, + 0.036359209567308426, + 0.4811016619205475, + -0.002170807681977749, + 0.0020551560446619987, + 1.1743017435073853, + -0.002299544168636203, + 0.0018599012400954962, + 0.6901564598083496, + 0.004448727238923311, + -0.011464046314358711, + 0.2904658317565918, + 0.010012767277657986, + -0.0021948162466287613, + 0.8048050403594971, + -0.0025841868482530117, + 0.0019525430398061872, + 1.2108385562896729, + -0.00417346740141511, + 0.045728735625743866, + 0.7655027508735657, + 0.002623229054734111, + 0.0025064614601433277, + 1.1862231492996216, + 0.0016402998007833958, + 0.002099447650834918, + 0.6908870935440063, + 1.2355860471725464, + -0.5358384251594543, + 0.002453547203913331, + -0.003853229805827141, + -0.31212714314460754, + 0.00264880433678627, + -0.0038904075045138597, + -0.6238494515419006 + ], + "wrist_pos": [ + 0.22702458500862122, + -0.009486470371484756, + 0.6940578818321228 + ], + "wrist_rot": [ + -0.5700839161872864, + 0.4153299331665039, + 0.5729315280914307, + 0.4174383878707886 + ], + "joint_positions": [ + 0.18950113654136658, + 8.699390008359842e-08 + ] + }, + { + "phase": "drag", + "step": 32, + "virtual_xyz": [ + 0.22520633041858673, + -0.010944249108433723, + 0.6940550208091736 + ], + "wrist_rpy": [ + -1.5652166604995728, + -0.3206366002559662, + 1.5724455118179321 + ], + "finger_dofs": [ + 1.3508137464523315, + -0.00253654969856143, + 0.011514055542647839, + 1.597122073173523, + -0.0014381344662979245, + 0.0002526595490053296, + 1.2006512880325317, + 6.550936814164743e-05, + -0.00013981557276565582, + 0.7075388431549072, + 0.0027131044771522284, + 0.036239925771951675, + 0.4790046811103821, + -0.0022194464690983295, + 0.002076709410175681, + 1.175122618675232, + -0.002283627400174737, + 0.0018619103357195854, + 0.6883488297462463, + 0.004479118622839451, + -0.010793091729283333, + 0.2898874282836914, + 0.010085436515510082, + -0.002309520961716771, + 0.8003827333450317, + -0.002601137850433588, + 0.001964476192370057, + 1.2084264755249023, + -0.003844895865768194, + 0.045417845249176025, + 0.764289915561676, + 0.002652922412380576, + 0.0024469890631735325, + 1.1869713068008423, + 0.0015846611931920052, + 0.0021082835737615824, + 0.6939201354980469, + 1.2364444732666016, + -0.5244898200035095, + 0.0018326122080907226, + -0.0029453139286488295, + -0.33005329966545105, + 0.00222162832506001, + -0.002912727417424321, + -0.6232559084892273 + ], + "wrist_pos": [ + 0.2252064347267151, + -0.010944245383143425, + 0.6940549612045288 + ], + "wrist_rot": [ + -0.5719077587127686, + 0.4126425087451935, + 0.5748987793922424, + 0.4148964285850525 + ], + "joint_positions": [ + 0.19740574061870575, + 2.8836758758643555e-08 + ] + }, + { + "phase": "drag", + "step": 33, + "virtual_xyz": [ + 0.223397895693779, + -0.012405694462358952, + 0.6940494179725647 + ], + "wrist_rpy": [ + -1.564797282218933, + -0.3298388421535492, + 1.5727158784866333 + ], + "finger_dofs": [ + 1.3515713214874268, + -0.002801257884129882, + 0.010707943700253963, + 1.597830891609192, + -0.0008592519443482161, + 0.0001211245107697323, + 1.2004553079605103, + 4.193013228359632e-05, + -0.00010685971210477874, + 0.7071067690849304, + 0.0026805184315890074, + 0.036179594695568085, + 0.47390493750572205, + -0.0023633406963199377, + 0.002135324291884899, + 1.1753287315368652, + -0.0022374875843524933, + 0.0018685213290154934, + 0.6862731575965881, + 0.004231372848153114, + -0.009291518479585648, + 0.2865961492061615, + 0.009800948202610016, + -0.002252481412142515, + 0.8057572841644287, + -0.0025826578494161367, + 0.001968595664948225, + 1.2064930200576782, + -0.0038230987265706062, + 0.0447479709982872, + 0.7623951435089111, + 0.002656017430126667, + 0.002445048885419965, + 1.187355875968933, + 0.0016252967761829495, + 0.002118695992976427, + 0.7100248336791992, + 1.2406680583953857, + -0.4981147050857544, + 0.0018189745023846626, + -0.0030437875539064407, + -0.38078632950782776, + 0.0024919325951486826, + -0.003351220628246665, + -0.621728777885437 + ], + "wrist_pos": [ + 0.22339800000190735, + -0.012405690737068653, + 0.6940493583679199 + ], + "wrist_rot": [ + -0.5736731886863708, + 0.40995267033576965, + 0.5769286751747131, + 0.41229984164237976 + ], + "joint_positions": [ + 0.20535139739513397, + 1.3446989299836787e-08 + ] + }, + { + "phase": "drag", + "step": 34, + "virtual_xyz": [ + 0.22160062193870544, + -0.013887335546314716, + 0.6940445899963379 + ], + "wrist_rpy": [ + -1.5644830465316772, + -0.3389304578304291, + 1.5729237794876099 + ], + "finger_dofs": [ + 1.3502118587493896, + -0.0027047356124967337, + 0.010005015879869461, + 1.5982301235198975, + -0.001224179402925074, + 6.746296276105568e-05, + 1.200307846069336, + 5.003240585210733e-05, + -7.965543045429513e-05, + 0.7066296935081482, + 0.0027359321247786283, + 0.035920288413763046, + 0.46924200654029846, + -0.00238266889937222, + 0.002144305966794491, + 1.1759549379348755, + -0.0022236148361116648, + 0.0018701473018154502, + 0.6889792084693909, + 0.0044327350333333015, + -0.009479845874011517, + 0.27947866916656494, + 0.010153045877814293, + -0.00237613869830966, + 0.8046765923500061, + -0.0026057930663228035, + 0.0019757242407649755, + 1.2038782835006714, + -0.0035375338047742844, + 0.044337090104818344, + 0.759075939655304, + 0.00300356256775558, + 0.00239292299374938, + 1.1861950159072876, + 0.0012745991116389632, + 0.0021220867056399584, + 0.7299315333366394, + 1.2425898313522339, + -0.4782010018825531, + -0.0014099018881097436, + -0.0025362768210470676, + -0.4271867871284485, + 0.002109477063640952, + -0.002559441840276122, + -0.6202645897865295 + ], + "wrist_pos": [ + 0.221600741147995, + -0.013887330889701843, + 0.6940445303916931 + ], + "wrist_rot": [ + -0.5754397511482239, + 0.4072982668876648, + 0.5788878798484802, + 0.40971440076828003 + ], + "joint_positions": [ + 0.21344055235385895, + 9.374495846259379e-09 + ] + }, + { + "phase": "drag", + "step": 35, + "virtual_xyz": [ + 0.21981926262378693, + -0.015389352105557919, + 0.6940428614616394 + ], + "wrist_rpy": [ + -1.5644335746765137, + -0.3477206230163574, + 1.5730478763580322 + ], + "finger_dofs": [ + 1.346590518951416, + -0.002739645540714264, + 0.009558691643178463, + 1.5981593132019043, + -0.002044344088062644, + -4.2051091440953314e-05, + 1.2001895904541016, + 9.865317224466708e-06, + -5.910571780987084e-05, + 0.7055479288101196, + 0.0027069372590631247, + 0.035805843770504, + 0.4671293795108795, + -0.002501320093870163, + 0.002194263506680727, + 1.1761577129364014, + -0.0021958083380013704, + 0.0018631094135344028, + 0.6896992921829224, + 0.004567291587591171, + -0.009502282366156578, + 0.2756267786026001, + 0.010270758531987667, + -0.002427970990538597, + 0.8030744194984436, + -0.0026101486291736364, + 0.0019730892963707447, + 1.2016712427139282, + -0.003308537183329463, + 0.044667940586805344, + 0.7589076161384583, + 0.0028624441474676132, + 0.0023230493534356356, + 1.1866626739501953, + 0.0010159704834222794, + 0.0021114000119268894, + 0.736880362033844, + 1.2476881742477417, + -0.47040021419525146, + -0.0018766631837934256, + -0.002623053500428796, + -0.4496549367904663, + 0.002215046901255846, + -0.0027621062472462654, + -0.6191101670265198 + ], + "wrist_pos": [ + 0.21981936693191528, + -0.015389347448945045, + 0.6940428018569946 + ], + "wrist_rot": [ + -0.5772051811218262, + 0.4047754108905792, + 0.5807021856307983, + 0.4071558713912964 + ], + "joint_positions": [ + 0.2216164916753769, + 8.296820119824133e-09 + ] + }, + { + "phase": "drag", + "step": 36, + "virtual_xyz": [ + 0.21804848313331604, + -0.016897495836019516, + 0.6940410733222961 + ], + "wrist_rpy": [ + -1.5642913579940796, + -0.35665223002433777, + 1.5732115507125854 + ], + "finger_dofs": [ + 1.3455091714859009, + -0.002752537839114666, + 0.009564763866364956, + 1.5982162952423096, + -0.0017819221829995513, + -2.1553169062826782e-05, + 1.2001043558120728, + 5.088227044325322e-05, + -4.259087654645555e-05, + 0.7043349742889404, + 0.0026851105503737926, + 0.035810332745313644, + 0.4641278386116028, + -0.0026319127064198256, + 0.002228574361652136, + 1.1768028736114502, + -0.0021467851474881172, + 0.0018757147481665015, + 0.6913818717002869, + 0.00482611870393157, + -0.009501326829195023, + 0.2719355523586273, + 0.010644297115504742, + -0.0025453567504882812, + 0.8009644746780396, + -0.0026430529542267323, + 0.0019810781814157963, + 1.2005860805511475, + -0.003598931711167097, + 0.04363257810473442, + 0.7568470239639282, + 0.0028566510882228613, + 0.0023586007300764322, + 1.1872272491455078, + 0.0011018221266567707, + 0.0021297610364854336, + 0.7557355761528015, + 1.2483702898025513, + -0.4581451117992401, + -0.0019643567502498627, + -0.002270301105454564, + -0.48279353976249695, + 0.002032800344750285, + -0.002299477346241474, + -0.6182562112808228 + ], + "wrist_pos": [ + 0.2180485725402832, + -0.01689749024808407, + 0.6940410137176514 + ], + "wrist_rot": [ + -0.5789617896080017, + 0.40218809247016907, + 0.5825600028038025, + 0.40456363558769226 + ], + "joint_positions": [ + 0.22984495759010315, + 8.011640240113138e-09 + ] + }, + { + "phase": "drag", + "step": 37, + "virtual_xyz": [ + 0.21629083156585693, + -0.01841774396598339, + 0.6940417289733887 + ], + "wrist_rpy": [ + -1.5641847848892212, + -0.36560070514678955, + 1.573352336883545 + ], + "finger_dofs": [ + 1.3463599681854248, + -0.002619826467707753, + 0.009021011181175709, + 1.5985888242721558, + -0.0006853275117464364, + 6.233743988559581e-06, + 1.2000738382339478, + 8.411742601310834e-05, + -3.7435380363604054e-05, + 0.7045226693153381, + 0.0026917767245322466, + 0.035527054220438004, + 0.4623011350631714, + -0.0027013702783733606, + 0.0022562495432794094, + 1.1773267984390259, + -0.002135874703526497, + 0.0018743525724858046, + 0.6924346089363098, + 0.004787782207131386, + -0.0092156445607543, + 0.2689827084541321, + 0.010725223459303379, + -0.0025843249168246984, + 0.8006200790405273, + -0.0026519594248384237, + 0.001981838373467326, + 1.2000603675842285, + -0.0035917761269956827, + 0.043417055159807205, + 0.7553792595863342, + 0.002855151891708374, + 0.002365542110055685, + 1.1876990795135498, + 0.0011669371742755175, + 0.002129577798768878, + 0.7582435011863708, + 1.2523490190505981, + -0.4551510810852051, + -0.0019523906521499157, + -0.0023562840651720762, + -0.4900450110435486, + 0.0020558431278914213, + -0.002351513598114252, + -0.6178198456764221 + ], + "wrist_pos": [ + 0.2162909358739853, + -0.018417738378047943, + 0.6940416693687439 + ], + "wrist_rot": [ + -0.5807228088378906, + 0.39959171414375305, + 0.58439701795578, + 0.4019547402858734 + ], + "joint_positions": [ + 0.23817339539527893, + 7.936173496148058e-09 + ] + }, + { + "phase": "drag", + "step": 38, + "virtual_xyz": [ + 0.2145461142063141, + -0.019936466589570045, + 0.694040834903717 + ], + "wrist_rpy": [ + -1.563944697380066, + -0.3747645318508148, + 1.5734367370605469 + ], + "finger_dofs": [ + 1.3486193418502808, + -0.0023922130931168795, + 0.008486420847475529, + 1.59909188747406, + 0.0011569902999326587, + 0.0001769431255524978, + 1.2001289129257202, + 0.00018830058979801834, + -4.5503464207286015e-05, + 0.7061505913734436, + 0.0027065316680818796, + 0.035324349999427795, + 0.4586646854877472, + -0.002762298798188567, + 0.0022559056524187326, + 1.1781601905822754, + -0.002115565352141857, + 0.001883369986899197, + 0.6877551674842834, + 0.004159816075116396, + -0.009449262171983719, + 0.2763431668281555, + 0.010017761960625648, + -0.0018878172850236297, + 0.7929920554161072, + -0.002513986313715577, + 0.0019810469821095467, + 1.2004449367523193, + -0.0034665241837501526, + 0.0433092899620533, + 0.7524808049201965, + 0.0029482922982424498, + 0.0023431649897247553, + 1.1879252195358276, + 0.001228789915330708, + 0.002138432115316391, + 0.7601067423820496, + 1.2542800903320312, + -0.4561348855495453, + -0.001951886690221727, + -0.0024476100225001574, + -0.48961421847343445, + 0.002103907521814108, + -0.0024346308782696724, + -0.6174930334091187 + ], + "wrist_pos": [ + 0.21454623341560364, + -0.01993645913898945, + 0.6940407752990723 + ], + "wrist_rot": [ + -0.5825005173683167, + 0.39686891436576843, + 0.5862793922424316, + 0.39933013916015625 + ], + "joint_positions": [ + 0.24659572541713715, + 7.91620369255952e-09 + ] + }, + { + "phase": "drag", + "step": 39, + "virtual_xyz": [ + 0.21281209588050842, + -0.021479399874806404, + 0.6940404176712036 + ], + "wrist_rpy": [ + -1.5635823011398315, + -0.3838277757167816, + 1.5735236406326294 + ], + "finger_dofs": [ + 1.3511260747909546, + -0.0023437575437128544, + 0.007470778189599514, + 1.5997132062911987, + 0.0019551152363419533, + 5.3532923629973084e-05, + 1.200175166130066, + 8.593442180426791e-05, + -5.62381355848629e-05, + 0.7082505822181702, + 0.0026948468293994665, + 0.03518432006239891, + 0.45523038506507874, + -0.0027508786879479885, + 0.002262600464746356, + 1.1785643100738525, + -0.0021196494344621897, + 0.001879773335531354, + 0.6853582859039307, + 0.0042256261222064495, + -0.009195836260914803, + 0.2828354239463806, + 0.009994437918066978, + -0.0019441423937678337, + 0.7861284613609314, + -0.0025223155971616507, + 0.001980020198971033, + 1.2009779214859009, + -0.0031115401070564985, + 0.04397275671362877, + 0.7500898241996765, + 0.003024137346073985, + 0.0023290151730179787, + 1.1871418952941895, + 0.000971031840890646, + 0.0021352407056838274, + 0.7619802951812744, + 1.2555145025253296, + -0.45712459087371826, + -0.001938119065016508, + -0.002457036403939128, + -0.48951220512390137, + 0.0021015224047005177, + -0.0024407159071415663, + -0.6173766851425171 + ], + "wrist_pos": [ + 0.21281218528747559, + -0.021479392424225807, + 0.6940403580665588 + ], + "wrist_rot": [ + -0.5842222571372986, + 0.394131600856781, + 0.5881535410881042, + 0.39676183462142944 + ], + "joint_positions": [ + 0.2551197111606598, + 7.910918142783885e-09 + ] + }, + { + "phase": "drag", + "step": 40, + "virtual_xyz": [ + 0.21109738945960999, + -0.023058142513036728, + 0.6940396428108215 + ], + "wrist_rpy": [ + -1.5634998083114624, + -0.39263442158699036, + 1.5735582113265991 + ], + "finger_dofs": [ + 1.3492059707641602, + -0.002516568172723055, + 0.007421030197292566, + 1.5994502305984497, + 0.0017606917535886168, + 2.0397224943735637e-05, + 1.2001852989196777, + 5.985580719425343e-05, + -5.872712063137442e-05, + 0.7095019221305847, + 0.002705230610445142, + 0.03529469668865204, + 0.45221760869026184, + -0.0027055551763623953, + 0.0022474764846265316, + 1.1780349016189575, + -0.0021264527458697557, + 0.0018811464542523026, + 0.6836271286010742, + 0.004139611031860113, + -0.009012185968458652, + 0.2860703468322754, + 0.009805815294384956, + -0.0019685032311826944, + 0.785372257232666, + -0.0025240806862711906, + 0.0019825687631964684, + 1.2010899782180786, + -0.0031265493016690016, + 0.044031109660863876, + 0.7510393857955933, + 0.003014627378433943, + 0.0023124529980123043, + 1.1864415407180786, + 0.0007353438413701952, + 0.0021402440033853054, + 0.7623917460441589, + 1.2558518648147583, + -0.45703572034835815, + -0.001943092211149633, + -0.002450286876410246, + -0.4900643527507782, + 0.0020970311015844345, + -0.0024343254044651985, + -0.6171789169311523 + ], + "wrist_pos": [ + 0.21109749376773834, + -0.02305813506245613, + 0.6940395832061768 + ], + "wrist_rot": [ + -0.5859476923942566, + 0.3915283679962158, + 0.5898994207382202, + 0.39419469237327576 + ], + "joint_positions": [ + 0.26375776529312134, + 7.909520149951277e-09 + ] + }, + { + "phase": "drag", + "step": 41, + "virtual_xyz": [ + 0.20939001441001892, + -0.02463196963071823, + 0.694040060043335 + ], + "wrist_rpy": [ + -1.5633302927017212, + -0.4014764428138733, + 1.5736210346221924 + ], + "finger_dofs": [ + 1.3491910696029663, + -0.002460618270561099, + 0.007704360410571098, + 1.5993252992630005, + 0.001846715109422803, + 2.604678775242064e-05, + 1.2002261877059937, + 5.2159131882945076e-05, + -6.660450890194625e-05, + 0.7104275822639465, + 0.0027107452042400837, + 0.035322051495313644, + 0.450104683637619, + -0.002751699648797512, + 0.0022656479850411415, + 1.1779558658599854, + -0.0021119776647537947, + 0.0018803112907335162, + 0.683875322341919, + 0.004147189669311047, + -0.009088295511901379, + 0.2870737612247467, + 0.009790897369384766, + -0.0018955226987600327, + 0.7843686938285828, + -0.002508158329874277, + 0.001981652108952403, + 1.201537847518921, + -0.0032274613622576, + 0.04402625188231468, + 0.7501461505889893, + 0.0029950952157378197, + 0.002332343952730298, + 1.186402678489685, + 0.0007964810938574374, + 0.002137866336852312, + 0.7633424401283264, + 1.256162405014038, + -0.4571032226085663, + -0.001939508132636547, + -0.0024433606304228306, + -0.4905657172203064, + 0.0020958236418664455, + -0.0024296939373016357, + -0.6170799732208252 + ], + "wrist_pos": [ + 0.20939010381698608, + -0.024631962180137634, + 0.6940400004386902 + ], + "wrist_rot": [ + -0.5876465439796448, + 0.3888898193836212, + 0.5916626453399658, + 0.3916267454624176 + ], + "joint_positions": [ + 0.272456556558609, + 7.909150667728682e-09 + ] + }, + { + "phase": "drag", + "step": 42, + "virtual_xyz": [ + 0.20769354701042175, + -0.026220308616757393, + 0.6940403580665588 + ], + "wrist_rpy": [ + -1.5632872581481934, + -0.4100784957408905, + 1.5737271308898926 + ], + "finger_dofs": [ + 1.3497525453567505, + -0.0025948109105229378, + 0.007918092422187328, + 1.5992861986160278, + 0.0018910104408860207, + -1.4216289855539799e-05, + 1.2002161741256714, + 2.61681907431921e-05, + -6.517269503092393e-05, + 0.7104880809783936, + 0.002722027711570263, + 0.035286031663417816, + 0.45037728548049927, + -0.002718492643907666, + 0.0022529559209942818, + 1.1777945756912231, + -0.0021187025122344494, + 0.0018831226043403149, + 0.6834391951560974, + 0.004142843186855316, + -0.009221093729138374, + 0.28823912143707275, + 0.009831617586314678, + -0.0019048764370381832, + 0.7836315035820007, + -0.0025148834101855755, + 0.001982293091714382, + 1.2020492553710938, + -0.0032369960099458694, + 0.043905481696128845, + 0.7499156594276428, + 0.002992094261571765, + 0.0023349637631326914, + 1.1864632368087769, + 0.0008637909195385873, + 0.0021424773149192333, + 0.7636127471923828, + 1.2561839818954468, + -0.45720282196998596, + -0.0019498496549203992, + -0.0024510929360985756, + -0.4906918704509735, + 0.002099743578583002, + -0.0024268045090138912, + -0.6171613931655884 + ], + "wrist_pos": [ + 0.2076936513185501, + -0.026220301166176796, + 0.6940402984619141 + ], + "wrist_rot": [ + -0.5893038511276245, + 0.38636472821235657, + 0.5933515429496765, + 0.3890721797943115 + ], + "joint_positions": [ + 0.2811015546321869, + 7.909052968102515e-09 + ] + }, + { + "phase": "drag", + "step": 43, + "virtual_xyz": [ + 0.2060137838125229, + -0.02781926654279232, + 0.6940402984619141 + ], + "wrist_rpy": [ + -1.563044786453247, + -0.41881898045539856, + 1.5737477540969849 + ], + "finger_dofs": [ + 1.350367784500122, + -0.002444071229547262, + 0.007907633669674397, + 1.5993012189865112, + 0.0019005262292921543, + 3.3348136639688164e-05, + 1.200321078300476, + 2.99448765872512e-05, + -8.483065903419629e-05, + 0.7113479375839233, + 0.002742415526881814, + 0.035356175154447556, + 0.44866377115249634, + -0.0026597019750624895, + 0.0022372864186763763, + 1.177754521369934, + -0.002135515445843339, + 0.0018824876751750708, + 0.6831098198890686, + 0.004090135917067528, + -0.009225484915077686, + 0.2894306480884552, + 0.009637420997023582, + -0.0018550991080701351, + 0.7836891412734985, + -0.0024955172557383776, + 0.001982729649171233, + 1.204298496246338, + -0.0032410200219601393, + 0.04365323483943939, + 0.7474790811538696, + 0.0029725260101258755, + 0.0023549620527774096, + 1.1861329078674316, + 0.000737464870326221, + 0.0021408211905509233, + 0.7643066048622131, + 1.2565648555755615, + -0.45723623037338257, + -0.001941471709869802, + -0.0024460311979055405, + -0.49066606163978577, + 0.002098423894494772, + -0.0024343645200133324, + -0.6170889139175415 + ], + "wrist_pos": [ + 0.20601387321949005, + -0.027819257229566574, + 0.6940402388572693 + ], + "wrist_rot": [ + -0.5909551382064819, + 0.3837068974971771, + 0.5950772762298584, + 0.3865538537502289 + ], + "joint_positions": [ + 0.28976625204086304, + 7.909028987285183e-09 + ] + }, + { + "phase": "drag", + "step": 44, + "virtual_xyz": [ + 0.20434533059597015, + -0.029437802731990814, + 0.694040060043335 + ], + "wrist_rpy": [ + -1.5631359815597534, + -0.42743054032325745, + 1.573919653892517 + ], + "finger_dofs": [ + 1.3507057428359985, + -0.0024445082526654005, + 0.007479318883270025, + 1.5995700359344482, + 0.001855696551501751, + -3.2183535950025544e-05, + 1.2002248764038086, + 1.4171541806717869e-05, + -6.778469833079726e-05, + 0.7114023566246033, + 0.002736043883487582, + 0.035324789583683014, + 0.44912996888160706, + -0.0026288973167538643, + 0.0022408131044358015, + 1.1771883964538574, + -0.002141533885151148, + 0.001880480209365487, + 0.6836100816726685, + 0.004132527392357588, + -0.009371965192258358, + 0.28932684659957886, + 0.009740696288645267, + -0.0018608070677146316, + 0.7835310101509094, + -0.0025011340621858835, + 0.0019816651474684477, + 1.2034938335418701, + -0.003211745759472251, + 0.04392973333597183, + 0.7475848197937012, + 0.0029241691809147596, + 0.002356926677748561, + 1.1877195835113525, + 0.000999488984234631, + 0.0021380395628511906, + 0.7644108533859253, + 1.2563297748565674, + -0.45746052265167236, + -0.0019406168721616268, + -0.0024461401626467705, + -0.490538090467453, + 0.0020968089811503887, + -0.0024298960343003273, + -0.6171571612358093 + ], + "wrist_pos": [ + 0.2043454498052597, + -0.029437793418765068, + 0.6940400004386902 + ], + "wrist_rot": [ + -0.5926064848899841, + 0.3812241852283478, + 0.5967320203781128, + 0.38392242789268494 + ], + "joint_positions": [ + 0.29838934540748596, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 45, + "virtual_xyz": [ + 0.2026928812265396, + -0.031071452423930168, + 0.6940405368804932 + ], + "wrist_rpy": [ + -1.5631980895996094, + -0.4360416829586029, + 1.5740211009979248 + ], + "finger_dofs": [ + 1.3509665727615356, + -0.0024352571927011013, + 0.007359374780207872, + 1.5996205806732178, + 0.0018514891853556037, + -3.9338236092589796e-05, + 1.2002146244049072, + 1.1825031833723187e-05, + -6.586904055438936e-05, + 0.7113088369369507, + 0.002754719229415059, + 0.03530231863260269, + 0.44959378242492676, + -0.002599668689072132, + 0.0022337324917316437, + 1.1768860816955566, + -0.0021496356930583715, + 0.0018801864935085177, + 0.6838551759719849, + 0.004142154008150101, + -0.009448419325053692, + 0.2895457446575165, + 0.00974349770694971, + -0.0018963987240567803, + 0.7832289338111877, + -0.002509456593543291, + 0.0019797717686742544, + 1.2037016153335571, + -0.003558039665222168, + 0.04325789213180542, + 0.7467013001441956, + 0.0028942651115357876, + 0.0023813950829207897, + 1.1886621713638306, + 0.001331946812570095, + 0.0021353198681026697, + 0.7643720507621765, + 1.2561147212982178, + -0.45732805132865906, + -0.0019429653184488416, + -0.0024445531889796257, + -0.4909425377845764, + 0.002096684882417321, + -0.002426235703751445, + -0.6171407699584961 + ], + "wrist_pos": [ + 0.20269298553466797, + -0.031071443110704422, + 0.6940404772758484 + ], + "wrist_rot": [ + -0.5942546129226685, + 0.37870532274246216, + 0.5983675122261047, + 0.3813134431838989 + ], + "joint_positions": [ + 0.3070019483566284, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 46, + "virtual_xyz": [ + 0.20105509459972382, + -0.03271915763616562, + 0.6940411925315857 + ], + "wrist_rpy": [ + -1.5630924701690674, + -0.44469165802001953, + 1.5740545988082886 + ], + "finger_dofs": [ + 1.3512811660766602, + -0.0024494582321494818, + 0.007344579789787531, + 1.599592685699463, + 0.0018672449514269829, + -2.3887969291536137e-05, + 1.2002826929092407, + 3.933323569071945e-06, + -7.894593727542087e-05, + 0.71159428358078, + 0.0027525422628968954, + 0.03536728024482727, + 0.4492969512939453, + -0.002582813845947385, + 0.00222647818736732, + 1.1768320798873901, + -0.002152728848159313, + 0.0018801199039444327, + 0.683547854423523, + 0.0040901717729866505, + -0.00944221019744873, + 0.28982746601104736, + 0.009670793078839779, + -0.0018888931954279542, + 0.7837337851524353, + -0.0025052065029740334, + 0.0019797608256340027, + 1.204913854598999, + -0.0033080594148486853, + 0.042812250554561615, + 0.7455958127975464, + 0.002509081969037652, + 0.002395687624812126, + 1.1887497901916504, + 0.0013505276292562485, + 0.0021357345394790173, + 0.7645273804664612, + 1.2562389373779297, + -0.45716819167137146, + -0.001932873041369021, + -0.0024330117739737034, + -0.49126845598220825, + 0.002091239904984832, + -0.002430160529911518, + -0.6170831322669983 + ], + "wrist_pos": [ + 0.20105519890785217, + -0.032719146460294724, + 0.6940411329269409 + ], + "wrist_rot": [ + -0.5958803296089172, + 0.3760974705219269, + 0.6000176668167114, + 0.3787558972835541 + ], + "joint_positions": [ + 0.31561827659606934, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 47, + "virtual_xyz": [ + 0.19942978024482727, + -0.03437798097729683, + 0.6940406560897827 + ], + "wrist_rpy": [ + -1.5631150007247925, + -0.45335400104522705, + 1.5741610527038574 + ], + "finger_dofs": [ + 1.3513203859329224, + -0.0024305458646267653, + 0.00730307400226593, + 1.599648356437683, + 0.0018450389616191387, + -3.527709486661479e-05, + 1.2002569437026978, + 3.021199972863542e-06, + -7.408126111840829e-05, + 0.7118654847145081, + 0.0027512016240507364, + 0.035360392183065414, + 0.44941872358322144, + -0.00257593160495162, + 0.0022297282703220844, + 1.1767216920852661, + -0.002154942136257887, + 0.0018792784539982677, + 0.6841936707496643, + 0.004134753718972206, + -0.009454678744077682, + 0.2896975874900818, + 0.009723176248371601, + -0.0018873547669500113, + 0.7833790183067322, + -0.0025065133813768625, + 0.0019799491856247187, + 1.2048994302749634, + -0.0033547398634254932, + 0.04335201904177666, + 0.7458488345146179, + 0.002948654117062688, + 0.002366462256759405, + 1.1879602670669556, + 0.0012726450804620981, + 0.0021340660750865936, + 0.7646819353103638, + 1.2561432123184204, + -0.45710891485214233, + -0.001940832007676363, + -0.0024405706208199263, + -0.4914379417896271, + 0.0020948073361068964, + -0.002424119971692562, + -0.6170584559440613 + ], + "wrist_pos": [ + 0.19942988455295563, + -0.034377969801425934, + 0.6940405964851379 + ], + "wrist_rot": [ + -0.5975079536437988, + 0.37353911995887756, + 0.6016485095024109, + 0.3761273920536041 + ], + "joint_positions": [ + 0.32424113154411316, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 48, + "virtual_xyz": [ + 0.197819322347641, + -0.0360528901219368, + 0.6940406560897827 + ], + "wrist_rpy": [ + -1.5630724430084229, + -0.4619590640068054, + 1.5742403268814087 + ], + "finger_dofs": [ + 1.3514208793640137, + -0.002443228615447879, + 0.007305850740522146, + 1.599621057510376, + 0.001852164976298809, + -4.548511788016185e-05, + 1.200272560119629, + -7.933591405162588e-06, + -7.75731386966072e-05, + 0.7119338512420654, + 0.0027593672275543213, + 0.03539085388183594, + 0.449565052986145, + -0.0025537533219903708, + 0.002223358955234289, + 1.1765893697738647, + -0.002159264637157321, + 0.0018797323573380709, + 0.6841700077056885, + 0.004120524041354656, + -0.009502610191702843, + 0.28962722420692444, + 0.00968935340642929, + -0.001876910449936986, + 0.7839134335517883, + -0.0025035031139850616, + 0.0019801133312284946, + 1.204383134841919, + -0.0034503666684031487, + 0.04355074092745781, + 0.7463926672935486, + 0.0029497588984668255, + 0.002358353231102228, + 1.1879557371139526, + 0.0012203482910990715, + 0.0021349634043872356, + 0.764746367931366, + 1.2561386823654175, + -0.4570905566215515, + -0.0019419984892010689, + -0.0024400458205491304, + -0.4915660619735718, + 0.0020946150179952383, + -0.0024225986562669277, + -0.6170580983161926 + ], + "wrist_pos": [ + 0.19781942665576935, + -0.0360528789460659, + 0.6940405964851379 + ], + "wrist_rot": [ + -0.5991067886352539, + 0.37096333503723145, + 0.6032640933990479, + 0.3735366761684418 + ], + "joint_positions": [ + 0.3328529894351959, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 49, + "virtual_xyz": [ + 0.19622358679771423, + -0.037741437554359436, + 0.6940407156944275 + ], + "wrist_rpy": [ + -1.5630059242248535, + -0.4705022871494293, + 1.5743181705474854 + ], + "finger_dofs": [ + 1.3515565395355225, + -0.0024408854078501463, + 0.007329647894948721, + 1.5996018648147583, + 0.0018670676508918405, + -3.8156311347847804e-05, + 1.200296401977539, + -1.0101623047376052e-05, + -8.192082168534398e-05, + 0.7108545303344727, + 0.0027329656295478344, + 0.035233430564403534, + 0.4512108564376831, + -0.002767895581200719, + 0.0022664719726890326, + 1.1777878999710083, + -0.002111994894221425, + 0.0018806016305461526, + 0.6836047172546387, + 0.004122567363083363, + -0.009564952924847603, + 0.2901182472705841, + 0.009641267359256744, + -0.0018624322256073356, + 0.7843706607818604, + -0.002500523580238223, + 0.0019775619730353355, + 1.204138994216919, + -0.003447341499850154, + 0.04354039952158928, + 0.7470448017120361, + 0.0029476359486579895, + 0.002356677083298564, + 1.1877787113189697, + 0.0011898427037522197, + 0.002133366884663701, + 0.7647130489349365, + 1.2561752796173096, + -0.45711585879325867, + -0.0019429899984970689, + -0.0024397382512688637, + -0.4916279911994934, + 0.002094463910907507, + -0.0024210079573094845, + -0.617087721824646 + ], + "wrist_pos": [ + 0.1962236911058426, + -0.03774142637848854, + 0.6940406560897827 + ], + "wrist_rot": [ + -0.6006790399551392, + 0.36839187145233154, + 0.6048609614372253, + 0.37096506357192993 + ], + "joint_positions": [ + 0.3414566218852997, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 50, + "virtual_xyz": [ + 0.19464245438575745, + -0.03944322094321251, + 0.6940404176712036 + ], + "wrist_rpy": [ + -1.5629328489303589, + -0.47908249497413635, + 1.5744190216064453 + ], + "finger_dofs": [ + 1.3517147302627563, + -0.002451615873724222, + 0.007271106354892254, + 1.5996357202529907, + 0.0018505527405068278, + -4.519813592196442e-05, + 1.2002992630004883, + -1.4583592019334901e-05, + -8.286431693704799e-05, + 0.7107022404670715, + 0.0027374669443815947, + 0.0352352038025856, + 0.4516426920890808, + -0.0027055013924837112, + 0.0022548309061676264, + 1.1780329942703247, + -0.00212806835770607, + 0.0018810263136401772, + 0.683307945728302, + 0.004123799502849579, + -0.009659145958721638, + 0.2904171049594879, + 0.009637379087507725, + -0.001856324844993651, + 0.7846987247467041, + -0.002500069560483098, + 0.00197725766338408, + 1.2039992809295654, + -0.0034448551014065742, + 0.043506868183612823, + 0.7474940419197083, + 0.0029477947391569614, + 0.002356521552428603, + 1.1876978874206543, + 0.0011607425985857844, + 0.0021337266080081463, + 0.7648398876190186, + 1.2562299966812134, + -0.4572375416755676, + -0.0019431571708992124, + -0.0024407091550529003, + -0.49170759320259094, + 0.0020942222326993942, + -0.002420758828520775, + -0.617103099822998 + ], + "wrist_pos": [ + 0.194642573595047, + -0.039443206042051315, + 0.6940403580665588 + ], + "wrist_rot": [ + -0.602242112159729, + 0.36580753326416016, + 0.6064587235450745, + 0.3683706820011139 + ], + "joint_positions": [ + 0.3500589430332184, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 51, + "virtual_xyz": [ + 0.19307582080364227, + -0.04115771874785423, + 0.6940401792526245 + ], + "wrist_rpy": [ + -1.5628408193588257, + -0.4876684546470642, + 1.5745179653167725 + ], + "finger_dofs": [ + 1.3518279790878296, + -0.002429944695904851, + 0.0072560179978609085, + 1.5996350049972534, + 0.001881127362139523, + -3.4377000702079386e-05, + 1.2003111839294434, + -1.0028950782725587e-05, + -8.509427425451577e-05, + 0.7106385827064514, + 0.0027422395069152117, + 0.035274308174848557, + 0.45187804102897644, + -0.0026878328062593937, + 0.002251621335744858, + 1.1780197620391846, + -0.002132418565452099, + 0.0018813925562426448, + 0.6829637885093689, + 0.004122210666537285, + -0.009735177271068096, + 0.29068315029144287, + 0.009639897383749485, + -0.001855819602496922, + 0.785062313079834, + -0.0025002670008689165, + 0.001977757550776005, + 1.2044063806533813, + -0.003173322416841984, + 0.04382406920194626, + 0.7475785613059998, + 0.002957170130684972, + 0.002314293524250388, + 1.1873761415481567, + 0.0009618366020731628, + 0.002134447218850255, + 0.7649996280670166, + 1.25630784034729, + -0.4573821723461151, + -0.0019415616989135742, + -0.0024388900492340326, + -0.49175789952278137, + 0.0020938075613230467, + -0.0024220494087785482, + -0.6171175241470337 + ], + "wrist_pos": [ + 0.19307592511177063, + -0.04115770384669304, + 0.6940401196479797 + ], + "wrist_rot": [ + -0.603792667388916, + 0.3632082939147949, + 0.6080489754676819, + 0.36577385663986206 + ], + "joint_positions": [ + 0.35865363478660583, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 52, + "virtual_xyz": [ + 0.19152498245239258, + -0.04288775101304054, + 0.6940406560897827 + ], + "wrist_rpy": [ + -1.5628219842910767, + -0.49631497263908386, + 1.5746031999588013 + ], + "finger_dofs": [ + 1.3518959283828735, + -0.0024326129350811243, + 0.007257278077304363, + 1.5996241569519043, + 0.001869568252004683, + -4.34105604654178e-05, + 1.2003192901611328, + -1.8386539522907697e-05, + -8.680560131324455e-05, + 0.7106786966323853, + 0.0027366771828383207, + 0.035209786146879196, + 0.4520299732685089, + -0.0027000699192285538, + 0.002254239981994033, + 1.1781724691390991, + -0.002130177803337574, + 0.0018811698537319899, + 0.6830719709396362, + 0.004127091728150845, + -0.00974295474588871, + 0.2907979190349579, + 0.00963333249092102, + -0.0018479162827134132, + 0.7850176095962524, + -0.0024988676887005568, + 0.0019772667437791824, + 1.204261302947998, + -0.0034249513410031796, + 0.04352927207946777, + 0.7477922439575195, + 0.0029634598176926374, + 0.002348423469811678, + 1.1872929334640503, + 0.0010666787857189775, + 0.002133964793756604, + 0.7649825215339661, + 1.2562503814697266, + -0.4572477638721466, + -0.0019423740450292826, + -0.002440116833895445, + -0.4918997585773468, + 0.0020935130305588245, + -0.0024200258776545525, + -0.6170735955238342 + ], + "wrist_pos": [ + 0.19152508676052094, + -0.04288773611187935, + 0.6940405964851379 + ], + "wrist_rot": [ + -0.6053593754768372, + 0.3606019616127014, + 0.6096227169036865, + 0.3631340563297272 + ], + "joint_positions": [ + 0.3672575354576111, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 53, + "virtual_xyz": [ + 0.18998856842517853, + -0.044630661606788635, + 0.6940404176712036 + ], + "wrist_rpy": [ + -1.5627821683883667, + -0.5049379467964172, + 1.5747005939483643 + ], + "finger_dofs": [ + 1.3519614934921265, + -0.00243215705268085, + 0.0071994648315012455, + 1.5996426343917847, + 0.0018709537107497454, + -4.59139519080054e-05, + 1.2003222703933716, + -2.0212732124491595e-05, + -8.761776553001255e-05, + 0.7107730507850647, + 0.002745013916864991, + 0.03525378555059433, + 0.4520658552646637, + -0.0026809428818523884, + 0.002251132158562541, + 1.177998661994934, + -0.0021339990198612213, + 0.0018812513444572687, + 0.6830928325653076, + 0.004127121064811945, + -0.009816058911383152, + 0.2908419966697693, + 0.009628942236304283, + -0.0018453230150043964, + 0.785083532333374, + -0.002498365705832839, + 0.001977188978344202, + 1.2046616077423096, + -0.003478380385786295, + 0.043420083820819855, + 0.7477344870567322, + 0.002934124553576112, + 0.0023659176658838987, + 1.1872847080230713, + 0.001146419788710773, + 0.0021342819090932608, + 0.7650642395019531, + 1.256235122680664, + -0.45727670192718506, + -0.0019422464538365602, + -0.0024404616560786963, + -0.49199873208999634, + 0.0020932811312377453, + -0.002419849159196019, + -0.6170650720596313 + ], + "wrist_pos": [ + 0.18998867273330688, + -0.04463064670562744, + 0.6940403580665588 + ], + "wrist_rot": [ + -0.6069048047065735, + 0.35799357295036316, + 0.6111865639686584, + 0.36049702763557434 + ], + "joint_positions": [ + 0.37585827708244324, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 54, + "virtual_xyz": [ + 0.18846718966960907, + -0.0463864803314209, + 0.6940404772758484 + ], + "wrist_rpy": [ + -1.5627416372299194, + -0.5135616064071655, + 1.5748000144958496 + ], + "finger_dofs": [ + 1.3520383834838867, + -0.0024330993182957172, + 0.00714938435703516, + 1.5996571779251099, + 0.0018688978161662817, + -4.345967317931354e-05, + 1.2003282308578491, + -1.9929346308344975e-05, + -8.888885349733755e-05, + 0.7107972502708435, + 0.002747289603576064, + 0.03524303808808327, + 0.45215854048728943, + -0.0026758830063045025, + 0.0022505088709294796, + 1.1779190301895142, + -0.002134964568540454, + 0.0018812947673723102, + 0.6830993890762329, + 0.0041270325891673565, + -0.00988073367625475, + 0.2909229099750519, + 0.009623945690691471, + -0.0018439509440213442, + 0.7851482629776001, + -0.0024981654714792967, + 0.001977020874619484, + 1.2047876119613647, + -0.0034756355453282595, + 0.04336262866854668, + 0.7476864457130432, + 0.0029320877511054277, + 0.0023660447914153337, + 1.1873406171798706, + 0.001191697083413601, + 0.00213426211848855, + 0.765132486820221, + 1.2562154531478882, + -0.4572940766811371, + -0.0019419718300923705, + -0.0024403834249824286, + -0.49208521842956543, + 0.0020929675083607435, + -0.0024193539284169674, + -0.6170550584793091 + ], + "wrist_pos": [ + 0.18846729397773743, + -0.046386465430259705, + 0.6940404176712036 + ], + "wrist_rot": [ + -0.6084388494491577, + 0.3553789556026459, + 0.6127392053604126, + 0.35785260796546936 + ], + "joint_positions": [ + 0.3844582736492157, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 55, + "virtual_xyz": [ + 0.18696101009845734, + -0.04815509915351868, + 0.6940405368804932 + ], + "wrist_rpy": [ + -1.562695026397705, + -0.5221875309944153, + 1.574885606765747 + ], + "finger_dofs": [ + 1.35206937789917, + -0.0024294538889080286, + 0.007150458171963692, + 1.5996391773223877, + 0.0018729034345597029, + -4.0320868720300496e-05, + 1.2003459930419922, + -2.3222126401378773e-05, + -9.212580334860831e-05, + 0.7108296751976013, + 0.0027427691966295242, + 0.035182852298021317, + 0.4521065354347229, + -0.0026855177711695433, + 0.0022518248297274113, + 1.1780519485473633, + -0.002132918918505311, + 0.0018812916241586208, + 0.6830328106880188, + 0.0041277785785496235, + -0.00990058109164238, + 0.29105252027511597, + 0.009618237614631653, + -0.001841278513893485, + 0.7851834893226624, + -0.0024977489374578, + 0.0019768329802900553, + 1.2048460245132446, + -0.0034718846436589956, + 0.04335162416100502, + 0.7476789355278015, + 0.002932674949988723, + 0.0023653011303395033, + 1.1873911619186401, + 0.0012151194969192147, + 0.0021342013496905565, + 0.7651394009590149, + 1.256196141242981, + -0.4572593569755554, + -0.0019417009316384792, + -0.0024402658455073833, + -0.49214959144592285, + 0.002092682057991624, + -0.0024187802337110043, + -0.6170355677604675 + ], + "wrist_pos": [ + 0.1869611144065857, + -0.04815508425235748, + 0.6940404772758484 + ], + "wrist_rot": [ + -0.6099638342857361, + 0.35275083780288696, + 0.6142791509628296, + 0.35520705580711365 + ], + "joint_positions": [ + 0.3930516242980957, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 56, + "virtual_xyz": [ + 0.18547014892101288, + -0.04993709549307823, + 0.6940403580665588 + ], + "wrist_rpy": [ + -1.5626415014266968, + -0.5308070182800293, + 1.5749891996383667 + ], + "finger_dofs": [ + 1.352147102355957, + -0.0024314704351127148, + 0.007096213288605213, + 1.599658727645874, + 0.0018713236786425114, + -4.21591721533332e-05, + 1.200348973274231, + -2.4392169507336803e-05, + -9.287082502851263e-05, + 0.7108683586120605, + 0.0027511129155755043, + 0.03523711860179901, + 0.45221734046936035, + -0.002664685482159257, + 0.002248757053166628, + 1.1778805255889893, + -0.002136986004188657, + 0.0018813952337950468, + 0.6829875707626343, + 0.00412881001830101, + -0.009978843852877617, + 0.2911474406719208, + 0.009615976363420486, + -0.001839404576458037, + 0.785294234752655, + -0.002497479086741805, + 0.0019767764024436474, + 1.204886555671692, + -0.00346728996373713, + 0.043303873389959335, + 0.7477708458900452, + 0.0029311871621757746, + 0.0023650494404137135, + 1.1874080896377563, + 0.00121429527644068, + 0.0021344770211726427, + 0.7652344107627869, + 1.2561956644058228, + -0.45731839537620544, + -0.0019414882408455014, + -0.0024405233561992645, + -0.492233544588089, + 0.002092499751597643, + -0.0024186372756958008, + -0.6170321106910706 + ], + "wrist_pos": [ + 0.18547023832798004, + -0.04993708059191704, + 0.6940402984619141 + ], + "wrist_rot": [ + -0.6114721894264221, + 0.3501218855381012, + 0.6158104538917542, + 0.35255324840545654 + ], + "joint_positions": [ + 0.40165042877197266, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 57, + "virtual_xyz": [ + 0.18399466574192047, + -0.05173163115978241, + 0.6940402984619141 + ], + "wrist_rpy": [ + -1.5625858306884766, + -0.5394301414489746, + 1.5750874280929565 + ], + "finger_dofs": [ + 1.3522104024887085, + -0.002429469721391797, + 0.007063203025609255, + 1.599661111831665, + 0.0018727226415649056, + -4.058965714648366e-05, + 1.2003580331802368, + -2.5481573175056837e-05, + -9.473375394009054e-05, + 0.7109048962593079, + 0.0027533064130693674, + 0.03523391857743263, + 0.45227089524269104, + -0.002659977413713932, + 0.0022479649633169174, + 1.1778018474578857, + -0.0021378991659730673, + 0.0018814344657585025, + 0.6829310655593872, + 0.004129381384700537, + -0.010031307116150856, + 0.2912544310092926, + 0.009612709283828735, + -0.0018369737081229687, + 0.7854065895080566, + -0.0024971815291792154, + 0.001976682571694255, + 1.2049355506896973, + -0.003463813103735447, + 0.043272316455841064, + 0.7478318810462952, + 0.0029309396632015705, + 0.002364769810810685, + 1.1874229907989502, + 0.0012161297490820289, + 0.002134583191946149, + 0.7653048038482666, + 1.256195068359375, + -0.45733699202537537, + -0.001941243070177734, + -0.002440713346004486, + -0.49231791496276855, + 0.00209226505830884, + -0.002418329706415534, + -0.6170210242271423 + ], + "wrist_pos": [ + 0.18399475514888763, + -0.051731616258621216, + 0.6940402388572693 + ], + "wrist_rot": [ + -0.6129708886146545, + 0.34748268127441406, + 0.6173300743103027, + 0.3498940169811249 + ], + "joint_positions": [ + 0.4102487862110138, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 58, + "virtual_xyz": [ + 0.1825345754623413, + -0.05353878065943718, + 0.6940402984619141 + ], + "wrist_rpy": [ + -1.5625269412994385, + -0.5480518937110901, + 1.5751889944076538 + ], + "finger_dofs": [ + 1.352266788482666, + -0.002426234306767583, + 0.007033316884189844, + 1.5996651649475098, + 0.0018764639971777797, + -4.17700684920419e-05, + 1.200365662574768, + -2.822847272909712e-05, + -9.63399579632096e-05, + 0.710935652256012, + 0.0027571483515203, + 0.03523100167512894, + 0.4523155689239502, + -0.002650370355695486, + 0.0022460136096924543, + 1.1777474880218506, + -0.0021397641394287348, + 0.0018815675284713507, + 0.6828704476356506, + 0.0041314479894936085, + -0.010084237903356552, + 0.2913503348827362, + 0.009611091576516628, + -0.001837022602558136, + 0.7855177521705627, + -0.0024969119112938643, + 0.0019770758226513863, + 1.2049766778945923, + -0.0034550342243164778, + 0.04324186220765114, + 0.7478915452957153, + 0.0029305797070264816, + 0.002363229636102915, + 1.1874405145645142, + 0.0012167724780738354, + 0.0021349925082176924, + 0.7654802799224854, + 1.2561960220336914, + -0.4570467472076416, + -0.001954025821760297, + -0.0023865376133471727, + -0.49307096004486084, + 0.002068952890112996, + -0.0023656445555388927, + -0.6170081496238708 + ], + "wrist_pos": [ + 0.18253466486930847, + -0.053538765758275986, + 0.6940402388572693 + ], + "wrist_rot": [ + -0.6144572496414185, + 0.3448377549648285, + 0.6188388466835022, + 0.34722834825515747 + ], + "joint_positions": [ + 0.4188448190689087, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 59, + "virtual_xyz": [ + 0.18109016120433807, + -0.05535845831036568, + 0.6940402388572693 + ], + "wrist_rpy": [ + -1.5624691247940063, + -0.5566694736480713, + 1.5752874612808228 + ], + "finger_dofs": [ + 1.3523269891738892, + -0.0024253150913864374, + 0.0070053464733064175, + 1.5996733903884888, + 0.0018771905452013016, + -3.932651088689454e-05, + 1.2003778219223022, + -3.012721754203085e-05, + -9.848710033111274e-05, + 0.7108770608901978, + 0.002752743661403656, + 0.03516434133052826, + 0.45238322019577026, + -0.002659289399161935, + 0.0022473279386758804, + 1.1779006719589233, + -0.0021377012599259615, + 0.0018817229429259896, + 0.6827482581138611, + 0.004133302718400955, + -0.01013338565826416, + 0.2915090322494507, + 0.009606743231415749, + -0.0018338282825425267, + 0.7855961322784424, + -0.002496556146070361, + 0.0019767633639276028, + 1.2049822807312012, + -0.0034517301246523857, + 0.04321271553635597, + 0.7479872703552246, + 0.0029303403571248055, + 0.0023625248577445745, + 1.1874579191207886, + 0.0012168296379968524, + 0.002134998794645071, + 0.7655454874038696, + 1.256178379058838, + -0.4570824205875397, + -0.0019542460795491934, + -0.0023861797526478767, + -0.4931260049343109, + 0.0020691428799182177, + -0.002365861088037491, + -0.6170005202293396 + ], + "wrist_pos": [ + 0.18109025061130524, + -0.055358439683914185, + 0.6940401792526245 + ], + "wrist_rot": [ + -0.6159325242042542, + 0.3421870172023773, + 0.6203341484069824, + 0.34455856680870056 + ], + "joint_positions": [ + 0.4274387061595917, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 60, + "virtual_xyz": [ + 0.17966130375862122, + -0.05719071254134178, + 0.6940402984619141 + ], + "wrist_rpy": [ + -1.5624057054519653, + -0.5652915835380554, + 1.5753921270370483 + ], + "finger_dofs": [ + 1.3524279594421387, + -0.0024212393909692764, + 0.00697912834584713, + 1.5996733903884888, + 0.0018817706732079387, + -4.1294308175565675e-05, + 1.2003854513168335, + -3.290366294095293e-05, + -0.00010016200394602492, + 0.7109578251838684, + 0.0027611309196799994, + 0.0352199412882328, + 0.45241427421569824, + -0.0026399733033031225, + 0.002245499286800623, + 1.1777229309082031, + -0.002141865435987711, + 0.0018812682246789336, + 0.6827654838562012, + 0.0041211191564798355, + -0.010183100588619709, + 0.2913818359375, + 0.009587110951542854, + -0.0018253900343552232, + 0.7860640287399292, + -0.0024945149198174477, + 0.0019768124911934137, + 1.2050137519836426, + -0.003446748945862055, + 0.04317520931363106, + 0.7480776906013489, + 0.002929262351244688, + 0.0023629909846931696, + 1.1874780654907227, + 0.0012168121756985784, + 0.002134923357516527, + 0.7656146883964539, + 1.2561924457550049, + -0.4571032226085663, + -0.0019531426951289177, + -0.0023828421253710985, + -0.493282288312912, + 0.0020659940782934427, + -0.002360256854444742, + -0.6169931888580322 + ], + "wrist_pos": [ + 0.17966139316558838, + -0.05719069391489029, + 0.6940402388572693 + ], + "wrist_rot": [ + -0.6173956394195557, + 0.33952900767326355, + 0.6218202710151672, + 0.3418804407119751 + ], + "joint_positions": [ + 0.43603548407554626, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 61, + "virtual_xyz": [ + 0.17824849486351013, + -0.05903513357043266, + 0.6940401792526245 + ], + "wrist_rpy": [ + -1.5623435974121094, + -0.5739126205444336, + 1.5754936933517456 + ], + "finger_dofs": [ + 1.3524863719940186, + -0.0024210535921156406, + 0.006947689224034548, + 1.5996792316436768, + 0.00188234553206712, + -3.88800872315187e-05, + 1.200397253036499, + -3.463028770056553e-05, + -0.00010237527749268338, + 0.7109166979789734, + 0.00275701773352921, + 0.03515477478504181, + 0.45247793197631836, + -0.0026477519422769547, + 0.0022465200163424015, + 1.1778371334075928, + -0.0021400945261120796, + 0.0018814041977748275, + 0.682715654373169, + 0.0041197240352630615, + -0.01023659948259592, + 0.29139241576194763, + 0.009577998891472816, + -0.0018215395975857973, + 0.7862706780433655, + -0.002493825741112232, + 0.001976539846509695, + 1.205030918121338, + -0.00344296358525753, + 0.04314616695046425, + 0.748164713382721, + 0.0029292702674865723, + 0.0023621388245373964, + 1.1874991655349731, + 0.0012180700432509184, + 0.002134906128048897, + 0.7656481862068176, + 1.2561911344528198, + -0.4571082293987274, + -0.001952852588146925, + -0.0023833790328353643, + -0.4933496415615082, + 0.002065849956125021, + -0.002360059879720211, + -0.6169829964637756 + ], + "wrist_pos": [ + 0.1782485842704773, + -0.05903511494398117, + 0.6940401196479797 + ], + "wrist_rot": [ + -0.6188482046127319, + 0.33686426281929016, + 0.6232934594154358, + 0.3391968905925751 + ], + "joint_positions": [ + 0.4446296691894531, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 62, + "virtual_xyz": [ + 0.1768515557050705, + -0.06089169159531593, + 0.694040060043335 + ], + "wrist_rpy": [ + -1.5622771978378296, + -0.5825403928756714, + 1.5755983591079712 + ], + "finger_dofs": [ + 1.3525513410568237, + -0.0024229646660387516, + 0.006921436637639999, + 1.5996745824813843, + 0.001880753436125815, + -3.9590591768501326e-05, + 1.200406551361084, + -3.7162357330089435e-05, + -0.00010443021892569959, + 0.7110088467597961, + 0.0027649961411952972, + 0.03521689400076866, + 0.4524798095226288, + -0.002628348534926772, + 0.002243684371933341, + 1.1776485443115234, + -0.0021439155098050833, + 0.0018813770730048418, + 0.6826965808868408, + 0.0041211992502212524, + -0.010291386395692825, + 0.29140913486480713, + 0.009578478522598743, + -0.0018196569290012121, + 0.7864360213279724, + -0.0024935926776379347, + 0.0019765880424529314, + 1.205075979232788, + -0.0034382364246994257, + 0.04311332479119301, + 0.7482286095619202, + 0.0029275764245539904, + 0.002362034982070327, + 1.1875087022781372, + 0.0012142679188400507, + 0.002135157585144043, + 0.765728235244751, + 1.2561982870101929, + -0.4571326673030853, + -0.0019524343078956008, + -0.002383781597018242, + -0.49344468116760254, + 0.002065718639642, + -0.0023600561544299126, + -0.6169682145118713 + ], + "wrist_pos": [ + 0.17685164511203766, + -0.06089167296886444, + 0.6940400004386902 + ], + "wrist_rot": [ + -0.6202896237373352, + 0.33419114351272583, + 0.6247569918632507, + 0.3365052044391632 + ], + "joint_positions": [ + 0.4532262682914734, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 63, + "virtual_xyz": [ + 0.17547067999839783, + -0.06276023387908936, + 0.6940400004386902 + ], + "wrist_rpy": [ + -1.5622113943099976, + -0.59116530418396, + 1.575697422027588 + ], + "finger_dofs": [ + 1.3525937795639038, + -0.0024156782310456038, + 0.006909044925123453, + 1.599668025970459, + 0.0018879544222727418, + -4.126173735130578e-05, + 1.2004204988479614, + -4.235726737533696e-05, + -0.00010710754577303305, + 0.7109783291816711, + 0.0027602463960647583, + 0.03515827655792236, + 0.45253098011016846, + -0.0026372522115707397, + 0.0022448436357080936, + 1.1777687072753906, + -0.0021419390104711056, + 0.0018815086223185062, + 0.6825969219207764, + 0.004122395534068346, + -0.010327190160751343, + 0.2915304899215698, + 0.00957330409437418, + -0.0018172147683799267, + 0.7865533828735352, + -0.0024933419190347195, + 0.00197630375623703, + 1.2050979137420654, + -0.0034345139283686876, + 0.04309104010462761, + 0.7482991814613342, + 0.0029275992419570684, + 0.0023612314835190773, + 1.1875321865081787, + 0.0012167684035375714, + 0.0021351524628698826, + 0.7657541632652283, + 1.2561919689178467, + -0.4571295380592346, + -0.0019523205701261759, + -0.002383691957220435, + -0.4935004711151123, + 0.0020655449479818344, + -0.0023596580140292645, + -0.6169546246528625 + ], + "wrist_pos": [ + 0.175470769405365, + -0.06276021152734756, + 0.6940399408340454 + ], + "wrist_rot": [ + -0.6217204928398132, + 0.33151087164878845, + 0.6262069344520569, + 0.33380964398384094 + ], + "joint_positions": [ + 0.46182122826576233, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 64, + "virtual_xyz": [ + 0.17410583794116974, + -0.06464064866304398, + 0.6940400004386902 + ], + "wrist_rpy": [ + -1.5621434450149536, + -0.5997934341430664, + 1.5758068561553955 + ], + "finger_dofs": [ + 1.352657437324524, + -0.0024205795489251614, + 0.006870121695101261, + 1.599671721458435, + 0.0018831073539331555, + -3.984024078818038e-05, + 1.2004287242889404, + -4.2871430196100846e-05, + -0.00010877080057980493, + 0.7110682129859924, + 0.0027686015237122774, + 0.03521772846579552, + 0.4525319039821625, + -0.0026182562578469515, + 0.002242078771814704, + 1.1775761842727661, + -0.002145717851817608, + 0.0018814890645444393, + 0.6825603246688843, + 0.004122501704841852, + -0.010385044850409031, + 0.2915874123573303, + 0.009571966715157032, + -0.0018156764563173056, + 0.7866775989532471, + -0.002493134932592511, + 0.001976350322365761, + 1.2051361799240112, + -0.0034313243813812733, + 0.04305582121014595, + 0.7483623027801514, + 0.002926861634477973, + 0.002361063612625003, + 1.1875566244125366, + 0.0012156859738752246, + 0.00213542184792459, + 0.7658360004425049, + 1.2561973333358765, + -0.45716315507888794, + -0.0019520058995112777, + -0.0023841692600399256, + -0.493590384721756, + 0.0020654425024986267, + -0.0023597117979079485, + -0.6169418692588806 + ], + "wrist_pos": [ + 0.1741059273481369, + -0.06464062631130219, + 0.6940399408340454 + ], + "wrist_rot": [ + -0.6231389045715332, + 0.32882606983184814, + 0.6276473999023438, + 0.3311041593551636 + ], + "joint_positions": [ + 0.4704183340072632, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 65, + "virtual_xyz": [ + 0.17275729775428772, + -0.06653273850679398, + 0.6940400004386902 + ], + "wrist_rpy": [ + -1.562074065208435, + -0.6084187626838684, + 1.5759100914001465 + ], + "finger_dofs": [ + 1.3527013063430786, + -0.0024138158187270164, + 0.006856372579932213, + 1.599664568901062, + 0.001890387386083603, + -4.1013317968463525e-05, + 1.2004425525665283, + -4.787575380760245e-05, + -0.00011154105595778674, + 0.7110390663146973, + 0.0027637749444693327, + 0.03515613079071045, + 0.4525865316390991, + -0.0026277010329067707, + 0.0022432776167988777, + 1.1776995658874512, + -0.0021436577662825584, + 0.0018816287629306316, + 0.6824387311935425, + 0.004122015088796616, + -0.01042224746197462, + 0.29174602031707764, + 0.00956428237259388, + -0.0018118559382855892, + 0.7867843508720398, + -0.002492559375241399, + 0.0019760578870773315, + 1.2051584720611572, + -0.0034274824429303408, + 0.04303484037518501, + 0.7484409809112549, + 0.0029267456848174334, + 0.002360396785661578, + 1.1875853538513184, + 0.0012190068373456597, + 0.0021354148630052805, + 0.7658619284629822, + 1.2561925649642944, + -0.45716115832328796, + -0.0019518306944519281, + -0.0023841301444917917, + -0.49364563822746277, + 0.00206524645909667, + -0.0023592880461364985, + -0.6169288754463196 + ], + "wrist_pos": [ + 0.17275738716125488, + -0.06653271615505219, + 0.6940399408340454 + ], + "wrist_rot": [ + -0.6245462894439697, + 0.3261337876319885, + 0.6290745139122009, + 0.32839590311050415 + ], + "joint_positions": [ + 0.47901371121406555, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 66, + "virtual_xyz": [ + 0.17142502963542938, + -0.06843619793653488, + 0.6940399408340454 + ], + "wrist_rpy": [ + -1.5620015859603882, + -0.6170468330383301, + 1.5760256052017212 + ], + "finger_dofs": [ + 1.3527828454971313, + -0.002416059607639909, + 0.0068197608925402164, + 1.5996721982955933, + 0.0018862602300941944, + -3.951585676986724e-05, + 1.200448751449585, + -4.792496838490479e-05, + -0.00011281773186055943, + 0.7110772132873535, + 0.0027710911817848682, + 0.03521888330578804, + 0.4526437819004059, + -0.0026078789960592985, + 0.0022410722449421883, + 1.17750883102417, + -0.0021476333495229483, + 0.0018816583324223757, + 0.6824007630348206, + 0.004128411412239075, + -0.010474272072315216, + 0.2918137013912201, + 0.009573129005730152, + -0.0018124716589227319, + 0.7869124412536621, + -0.002492863219231367, + 0.001976205501705408, + 1.2048319578170776, + -0.003369831945747137, + 0.043087512254714966, + 0.7486432194709778, + 0.0029523668345063925, + 0.0023419971112161875, + 1.1876322031021118, + 0.0011742314090952277, + 0.002135647227987647, + 0.7659522891044617, + 1.256197214126587, + -0.45720598101615906, + -0.0019514969317242503, + -0.0023844970855861902, + -0.4937320947647095, + 0.002065159846097231, + -0.0023592645302414894, + -0.6169171333312988 + ], + "wrist_pos": [ + 0.17142510414123535, + -0.06843617558479309, + 0.6940398812294006 + ], + "wrist_rot": [ + -0.6259405612945557, + 0.32343751192092896, + 0.6304923295974731, + 0.32567763328552246 + ], + "joint_positions": [ + 0.48761191964149475, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 67, + "virtual_xyz": [ + 0.1701091229915619, + -0.07035127282142639, + 0.6940400004386902 + ], + "wrist_rpy": [ + -1.5619211196899414, + -0.6256694197654724, + 1.5761325359344482 + ], + "finger_dofs": [ + 1.3528350591659546, + -0.002413596725091338, + 0.006812564097344875, + 1.5996614694595337, + 0.0018896529218181968, + -4.04759994125925e-05, + 1.2004659175872803, + -5.3590061725117266e-05, + -0.0001160817701020278, + 0.7110231518745422, + 0.0027629188261926174, + 0.035150907933712006, + 0.45270177721977234, + -0.0026304260827600956, + 0.0022473712451756, + 1.1776474714279175, + -0.0021420123521238565, + 0.0018817699747160077, + 0.6822319030761719, + 0.004126762039959431, + -0.01050972007215023, + 0.29199713468551636, + 0.009564771316945553, + -0.0018074765102937818, + 0.7870644927024841, + -0.002492241794243455, + 0.001975912367925048, + 1.2047948837280273, + -0.0033668424002826214, + 0.04308854416012764, + 0.7488244771957397, + 0.002952415496110916, + 0.0023416182957589626, + 1.1876100301742554, + 0.0011399290524423122, + 0.002135761082172394, + 0.7659823894500732, + 1.256201982498169, + -0.4572122097015381, + -0.001951377373188734, + -0.002384339924901724, + -0.49378377199172974, + 0.0020649998914450407, + -0.002358940662816167, + -0.6169058084487915 + ], + "wrist_pos": [ + 0.17010921239852905, + -0.0703512504696846, + 0.6940399408340454 + ], + "wrist_rot": [ + -0.6273228526115417, + 0.32073190808296204, + 0.6318968534469604, + 0.3229602873325348 + ], + "joint_positions": [ + 0.49620747566223145, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 68, + "virtual_xyz": [ + 0.16880972683429718, + -0.07227765768766403, + 0.6940400004386902 + ], + "wrist_rpy": [ + -1.561842679977417, + -0.6342912912368774, + 1.5762481689453125 + ], + "finger_dofs": [ + 1.3528804779052734, + -0.002350315684452653, + 0.006732891779392958, + 1.5996907949447632, + 0.0019505148520693183, + -4.1970506572397426e-05, + 1.2004743814468384, + -5.68313553230837e-05, + -0.00011775529128499329, + 0.7110331654548645, + 0.0027673968579620123, + 0.035142023116350174, + 0.4527439773082733, + -0.002612312324345112, + 0.0022425346542149782, + 1.177664875984192, + -0.0021467648912221193, + 0.0018815025687217712, + 0.6821029782295227, + 0.004127601161599159, + -0.01056646928191185, + 0.29215118288993835, + 0.00956299714744091, + -0.001807312946766615, + 0.7871835231781006, + -0.0024924289900809526, + 0.0019758830312639475, + 1.204793095588684, + -0.003363189520314336, + 0.043055467307567596, + 0.7489486336708069, + 0.0029523486737161875, + 0.0023414730094373226, + 1.187617540359497, + 0.0011258985614404082, + 0.0021357303485274315, + 0.766044557094574, + 1.2562042474746704, + -0.45725923776626587, + -0.0019510200945660472, + -0.002384849591180682, + -0.49383828043937683, + 0.0020650008227676153, + -0.00235865474678576, + -0.6168990135192871 + ], + "wrist_pos": [ + 0.16880981624126434, + -0.07227763533592224, + 0.6940399408340454 + ], + "wrist_rot": [ + -0.6286928057670593, + 0.3180238604545593, + 0.63329017162323, + 0.3202335238456726 + ], + "joint_positions": [ + 0.5048030614852905, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 69, + "virtual_xyz": [ + 0.1675270050764084, + -0.07421523332595825, + 0.6940399408340454 + ], + "wrist_rpy": [ + -1.5617624521255493, + -0.6429190635681152, + 1.5763638019561768 + ], + "finger_dofs": [ + 1.3529322147369385, + -0.002349047688767314, + 0.0067005339078605175, + 1.5996928215026855, + 0.001951555721461773, + -4.1755902202567086e-05, + 1.2004855871200562, + -5.9710146160796285e-05, + -0.00012000930291833356, + 0.7110503911972046, + 0.0027663190849125385, + 0.03513412922620773, + 0.4527577757835388, + -0.002619547536596656, + 0.002246852032840252, + 1.17765212059021, + -0.002144176047295332, + 0.0018815759103745222, + 0.6820029020309448, + 0.004127738066017628, + -0.010618172585964203, + 0.2922762632369995, + 0.009561670944094658, + -0.0018042662413790822, + 0.7873027920722961, + -0.0024922527372837067, + 0.001975801307708025, + 1.2048176527023315, + -0.0033596546854823828, + 0.04302860051393509, + 0.749038815498352, + 0.0029508566949516535, + 0.002341250656172633, + 1.1876258850097656, + 0.0011179287685081363, + 0.002135993679985404, + 0.7661044597625732, + 1.256208896636963, + -0.45728519558906555, + -0.0019507829565554857, + -0.0023850123398005962, + -0.4939062297344208, + 0.0020648506470024586, + -0.0023585704620927572, + -0.6168850660324097 + ], + "wrist_pos": [ + 0.16752709448337555, + -0.07421521097421646, + 0.6940398812294006 + ], + "wrist_rot": [ + -0.6300524473190308, + 0.31530728936195374, + 0.6346724033355713, + 0.31749966740608215 + ], + "joint_positions": [ + 0.5133996605873108, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 70, + "virtual_xyz": [ + 0.16626089811325073, + -0.07616376876831055, + 0.6940399408340454 + ], + "wrist_rpy": [ + -1.5616825819015503, + -0.6515477299690247, + 1.5764801502227783 + ], + "finger_dofs": [ + 1.352983832359314, + -0.0023478539660573006, + 0.006672251969575882, + 1.5996923446655273, + 0.0019525294192135334, + -4.141711542615667e-05, + 1.2004966735839844, + -6.248862337088212e-05, + -0.00012227993283886462, + 0.711078405380249, + 0.0027676690369844437, + 0.03512869402766228, + 0.4527786374092102, + -0.0026157088577747345, + 0.0022462313063442707, + 1.1776282787322998, + -0.0021448349580168724, + 0.0018816113006323576, + 0.6819139719009399, + 0.004128657281398773, + -0.010665384121239185, + 0.2924003601074219, + 0.009558610618114471, + -0.0018022641306743026, + 0.7874056696891785, + -0.0024920538999140263, + 0.0019756632391363382, + 1.2048468589782715, + -0.003356640925630927, + 0.04299957677721977, + 0.7491100430488586, + 0.002950009424239397, + 0.0023408078122884035, + 1.1876548528671265, + 0.00111721723806113, + 0.0021360982209444046, + 0.7661601305007935, + 1.2562098503112793, + -0.45730462670326233, + -0.0019505461677908897, + -0.002385383239015937, + -0.49397704005241394, + 0.002064709784463048, + -0.0023584230802953243, + -0.6168713569641113 + ], + "wrist_pos": [ + 0.1662609875202179, + -0.07616374641656876, + 0.6940398812294006 + ], + "wrist_rot": [ + -0.6314008235931396, + 0.3125852644443512, + 0.6360425353050232, + 0.31475910544395447 + ], + "joint_positions": [ + 0.521997332572937, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 71, + "virtual_xyz": [ + 0.16501165926456451, + -0.07812324166297913, + 0.6940398812294006 + ], + "wrist_rpy": [ + -1.5616014003753662, + -0.660173773765564, + 1.5765975713729858 + ], + "finger_dofs": [ + 1.3530522584915161, + -0.0023450618609786034, + 0.006645641755312681, + 1.599691390991211, + 0.001955089857801795, + -4.021630957140587e-05, + 1.2005093097686768, + -6.496266723843291e-05, + -0.00012466574844438583, + 0.7110664248466492, + 0.002769047860056162, + 0.03512589633464813, + 0.4528658986091614, + -0.0026121430564671755, + 0.002245855750516057, + 1.1776093244552612, + -0.0021454673260450363, + 0.0018816988449543715, + 0.6818033456802368, + 0.00413075927644968, + -0.010715923272073269, + 0.29254141449928284, + 0.00955487135797739, + -0.0018010945059359074, + 0.7875144481658936, + -0.0024920084979385138, + 0.001975464168936014, + 1.2048635482788086, + -0.0033517908304929733, + 0.04296543821692467, + 0.7492011785507202, + 0.0029480629600584507, + 0.002340370789170265, + 1.1876870393753052, + 0.0011176482075825334, + 0.0021361771505326033, + 0.7662087082862854, + 1.2562065124511719, + -0.4573233127593994, + -0.0019503048388287425, + -0.002385650295764208, + -0.49404650926589966, + 0.00206454424187541, + -0.002358213998377323, + -0.6168591380119324 + ], + "wrist_pos": [ + 0.16501174867153168, + -0.07812321931123734, + 0.6940398216247559 + ], + "wrist_rot": [ + -0.6327371597290039, + 0.30985817313194275, + 0.6374001502990723, + 0.3120135962963104 + ], + "joint_positions": [ + 0.5305950045585632, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 72, + "virtual_xyz": [ + 0.1637791395187378, + -0.08009332418441772, + 0.6940398216247559 + ], + "wrist_rpy": [ + -1.5615167617797852, + -0.6688008308410645, + 1.576716661453247 + ], + "finger_dofs": [ + 1.3531092405319214, + -0.002343870932236314, + 0.0066181267611682415, + 1.5996885299682617, + 0.001956550171598792, + -3.954937346861698e-05, + 1.2005218267440796, + -6.771380139980465e-05, + -0.00012711409362964332, + 0.7110871076583862, + 0.002770749619230628, + 0.035125482827425, + 0.45290663838386536, + -0.0026065597776323557, + 0.0022450019605457783, + 1.1775792837142944, + -0.0021464668679982424, + 0.001881772535853088, + 0.681699812412262, + 0.0041318717412650585, + -0.010764352045953274, + 0.29268187284469604, + 0.009552810341119766, + -0.0017992558423429728, + 0.7876237034797668, + -0.0024919554125517607, + 0.0019753307569772005, + 1.20488703250885, + -0.00334820244461298, + 0.0429358035326004, + 0.7492831349372864, + 0.002947104861959815, + 0.0023400636855512857, + 1.1877228021621704, + 0.0011206114431843162, + 0.0021363303530961275, + 0.7662605047225952, + 1.256206750869751, + -0.45733919739723206, + -0.0019500786438584328, + -0.0023858253844082355, + -0.49411875009536743, + 0.002064403612166643, + -0.002358020981773734, + -0.6168456673622131 + ], + "wrist_pos": [ + 0.16377922892570496, + -0.08009329438209534, + 0.6940397620201111 + ], + "wrist_rot": [ + -0.6340617537498474, + 0.3071244955062866, + 0.638746440410614, + 0.3092624843120575 + ], + "joint_positions": [ + 0.539193332195282, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 73, + "virtual_xyz": [ + 0.16256354749202728, + -0.08207397907972336, + 0.6940397620201111 + ], + "wrist_rpy": [ + -1.5614311695098877, + -0.677426815032959, + 1.5768373012542725 + ], + "finger_dofs": [ + 1.3531652688980103, + -0.002342292806133628, + 0.006591665558516979, + 1.5996865034103394, + 0.001958036795258522, + -3.869142528856173e-05, + 1.2005337476730347, + -7.020650809863582e-05, + -0.00012948870426043868, + 0.7111169099807739, + 0.0027755459304898977, + 0.03513159602880478, + 0.4529487192630768, + -0.0025887542869895697, + 0.0022390680387616158, + 1.1775367259979248, + -0.002150887856259942, + 0.001881830277852714, + 0.6815869808197021, + 0.004132201429456472, + -0.010813628323376179, + 0.2928226590156555, + 0.009546107612550259, + -0.001797234290279448, + 0.7877389788627625, + -0.002491460181772709, + 0.0019751593936234713, + 1.2049070596694946, + -0.0033455081284046173, + 0.04290908947587013, + 0.7493730783462524, + 0.002946502296254039, + 0.0023395423777401447, + 1.1877543926239014, + 0.0011221840977668762, + 0.0021363827399909496, + 0.7663127779960632, + 1.2562074661254883, + -0.45735645294189453, + -0.0019499209010973573, + -0.00238590594381094, + -0.49418941140174866, + 0.002064300933852792, + -0.002357714343816042, + -0.6168334484100342 + ], + "wrist_pos": [ + 0.16256363689899445, + -0.08207394927740097, + 0.6940397024154663 + ], + "wrist_rot": [ + -0.6353744864463806, + 0.3043856620788574, + 0.6400803923606873, + 0.30650565028190613 + ], + "joint_positions": [ + 0.5477922558784485, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 74, + "virtual_xyz": [ + 0.16136504709720612, + -0.0840650424361229, + 0.6940397024154663 + ], + "wrist_rpy": [ + -1.5613425970077515, + -0.6860542893409729, + 1.5769600868225098 + ], + "finger_dofs": [ + 1.353220820426941, + -0.0023416278418153524, + 0.006565213669091463, + 1.5996829271316528, + 0.001958545995876193, + -3.822499274974689e-05, + 1.200546145439148, + -7.309839566005394e-05, + -0.0001319496805081144, + 0.7111405730247498, + 0.0027769701555371284, + 0.03513331338763237, + 0.4529835879802704, + -0.0025833749677985907, + 0.002238234970718622, + 1.1774977445602417, + -0.0021518368739634752, + 0.00188188417814672, + 0.68147873878479, + 0.004131747409701347, + -0.010860241949558258, + 0.29296228289604187, + 0.00954245775938034, + -0.001794889336451888, + 0.7878520488739014, + -0.0024912685621529818, + 0.001975031802430749, + 1.2049299478530884, + -0.0033427581656724215, + 0.04288112744688988, + 0.7494578957557678, + 0.0029459348879754543, + 0.002339277882128954, + 1.1877840757369995, + 0.0011239146115258336, + 0.002136518247425556, + 0.7663651704788208, + 1.2562086582183838, + -0.45737066864967346, + -0.0019496690947562456, + -0.002386190230026841, + -0.49426189064979553, + 0.0020641726441681385, + -0.0023575816303491592, + -0.6168200373649597 + ], + "wrist_pos": [ + 0.16136512160301208, + -0.0840650126338005, + 0.6940396428108215 + ], + "wrist_rot": [ + -0.6366754174232483, + 0.30164024233818054, + 0.6414029598236084, + 0.30374282598495483 + ], + "joint_positions": [ + 0.556391716003418, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 75, + "virtual_xyz": [ + 0.16018369793891907, + -0.08606641739606857, + 0.6940395832061768 + ], + "wrist_rpy": [ + -1.5612527132034302, + -0.6946840882301331, + 1.5770846605300903 + ], + "finger_dofs": [ + 1.3532761335372925, + -0.002339147962629795, + 0.006536333821713924, + 1.5996803045272827, + 0.0019610838498920202, + -3.716919673024677e-05, + 1.2005584239959717, + -7.546615233877674e-05, + -0.00013438814494293183, + 0.7111647725105286, + 0.002775592030957341, + 0.03512309864163399, + 0.4530034363269806, + -0.002591532887890935, + 0.002242530230432749, + 1.1774752140045166, + -0.0021491805091500282, + 0.0018819267861545086, + 0.6813907027244568, + 0.004132522270083427, + -0.010907777585089207, + 0.2930906414985657, + 0.0095418281853199, + -0.001793735777027905, + 0.7879578471183777, + -0.0024914946407079697, + 0.0019749354105442762, + 1.2049603462219238, + -0.0033397318329662085, + 0.04285382479429245, + 0.7495324015617371, + 0.002945735352113843, + 0.0023388562258332968, + 1.1878160238265991, + 0.0011257504811510444, + 0.0021367373410612345, + 0.7664220333099365, + 1.2562083005905151, + -0.45738455653190613, + -0.001949417288415134, + -0.002386299194768071, + -0.49433672428131104, + 0.002063991269096732, + -0.0023574158549308777, + -0.6168054938316345 + ], + "wrist_pos": [ + 0.16018378734588623, + -0.08606638759374619, + 0.694039523601532 + ], + "wrist_rot": [ + -0.6379650831222534, + 0.29888880252838135, + 0.642713725566864, + 0.3009735643863678 + ], + "joint_positions": [ + 0.5649920701980591, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 76, + "virtual_xyz": [ + 0.15901951491832733, + -0.08807790279388428, + 0.6940395832061768 + ], + "wrist_rpy": [ + -1.5611605644226074, + -0.7033110857009888, + 1.5772114992141724 + ], + "finger_dofs": [ + 1.3533298969268799, + -0.0023380089551210403, + 0.006510603707283735, + 1.599677562713623, + 0.00196208362467587, + -3.661399387056008e-05, + 1.2005704641342163, + -7.826718501746655e-05, + -0.00013676959497388452, + 0.7111954689025879, + 0.002780286828055978, + 0.035125717520713806, + 0.4530409574508667, + -0.0025742631405591965, + 0.002236685948446393, + 1.1774404048919678, + -0.0021534906700253487, + 0.0018819828983396292, + 0.6812868118286133, + 0.004134475253522396, + -0.010955391451716423, + 0.2932276725769043, + 0.009537492878735065, + -0.0017925375141203403, + 0.7880687117576599, + -0.0024912997614592314, + 0.0019747766200453043, + 1.2049826383590698, + -0.0033367774449288845, + 0.04282601550221443, + 0.7496168613433838, + 0.002944986568763852, + 0.0023384159430861473, + 1.1878458261489868, + 0.001127499621361494, + 0.0021367701701819897, + 0.766472578048706, + 1.2562092542648315, + -0.45739975571632385, + -0.0019492227584123611, + -0.002386700361967087, + -0.49440816044807434, + 0.002063885796815157, + -0.002357195131480694, + -0.6167934536933899 + ], + "wrist_pos": [ + 0.1590196043252945, + -0.08807787299156189, + 0.694039523601532 + ], + "wrist_rot": [ + -0.6392421722412109, + 0.296132892370224, + 0.6440121531486511, + 0.29819944500923157 + ], + "joint_positions": [ + 0.573592483997345, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 77, + "virtual_xyz": [ + 0.15787245333194733, + -0.09009923040866852, + 0.694039523601532 + ], + "wrist_rpy": [ + -1.5610604286193848, + -0.7119252681732178, + 1.5773423910140991 + ], + "finger_dofs": [ + 1.3533930778503418, + -0.0023351109120994806, + 0.006488605868071318, + 1.5996747016906738, + 0.0019666494335979223, + -3.553386704879813e-05, + 1.2005845308303833, + -8.119960693875328e-05, + -0.00013943899830337614, + 0.711172342300415, + 0.0027796581853181124, + 0.035117506980895996, + 0.45298802852630615, + -0.0026134569197893143, + 0.002244849456474185, + 1.1774810552597046, + -0.0021422537975013256, + 0.0018821797566488385, + 0.6810666918754578, + 0.004133512265980244, + -0.011008502915501595, + 0.29345422983169556, + 0.009533436968922615, + -0.0017923805862665176, + 0.7882247567176819, + -0.002491314196959138, + 0.001975041814148426, + 1.2049570083618164, + -0.0033332437742501497, + 0.04279518127441406, + 0.7497941851615906, + 0.0029456268530339003, + 0.002336944220587611, + 1.1878715753555298, + 0.001128937816247344, + 0.0021373541094362736, + 0.7665358781814575, + 1.2562252283096313, + -0.4572562575340271, + -0.001952475868165493, + -0.0023588628973811865, + -0.4947928190231323, + 0.002052584895864129, + -0.0023311779368668795, + -0.6167858839035034 + ], + "wrist_pos": [ + 0.1578725427389145, + -0.09009920060634613, + 0.6940394639968872 + ], + "wrist_rot": [ + -0.6405044198036194, + 0.29337412118911743, + 0.6452979445457458, + 0.2954251766204834 + ], + "joint_positions": [ + 0.5821921825408936, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 78, + "virtual_xyz": [ + 0.1567431092262268, + -0.09213050454854965, + 0.6940394639968872 + ], + "wrist_rpy": [ + -1.5609608888626099, + -0.7205593585968018, + 1.5774723291397095 + ], + "finger_dofs": [ + 1.353454828262329, + -0.002335021272301674, + 0.006463981233537197, + 1.5996626615524292, + 0.0019659388344734907, + -3.555207513272762e-05, + 1.2005984783172607, + -8.436552889179438e-05, + -0.0001422994682798162, + 0.7113324403762817, + 0.002786796074360609, + 0.03514359891414642, + 0.45291638374328613, + -0.0025915580336004496, + 0.002237884560599923, + 1.177336573600769, + -0.0021478631533682346, + 0.001882109441794455, + 0.681007981300354, + 0.004134171176701784, + -0.011052417568862438, + 0.2935512959957123, + 0.009534081444144249, + -0.0017915142234414816, + 0.7883582711219788, + -0.002491515129804611, + 0.001974868355318904, + 1.2049894332885742, + -0.0033331913873553276, + 0.042771514505147934, + 0.7498693466186523, + 0.0029451888985931873, + 0.0023372105788439512, + 1.18790864944458, + 0.0011303384089842439, + 0.002137536648660898, + 0.766653299331665, + 1.2562142610549927, + -0.4575309455394745, + -0.0019502333598211408, + -0.0023837797343730927, + -0.4945128858089447, + 0.002064366592094302, + -0.0023570938501507044, + -0.6167670488357544 + ], + "wrist_pos": [ + 0.15674319863319397, + -0.09213047474622726, + 0.6940394043922424 + ], + "wrist_rot": [ + -0.6417585015296936, + 0.2906036972999573, + 0.6465737819671631, + 0.2926391363143921 + ], + "joint_positions": [ + 0.5907950401306152, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 79, + "virtual_xyz": [ + 0.155630961060524, + -0.09417150169610977, + 0.6940394639968872 + ], + "wrist_rpy": [ + -1.560860514640808, + -0.7291887402534485, + 1.5776060819625854 + ], + "finger_dofs": [ + 1.3535114526748657, + -0.0023346918169409037, + 0.006437256466597319, + 1.5996568202972412, + 0.0019668058957904577, + -3.636172186816111e-05, + 1.2006100416183472, + -8.780847565503791e-05, + -0.00014471777831204236, + 0.7113783955574036, + 0.002789105987176299, + 0.03514963760972023, + 0.45294189453125, + -0.0025863749906420708, + 0.0022370186634361744, + 1.1772617101669312, + -0.002148859668523073, + 0.0018821143312379718, + 0.68092280626297, + 0.004133020993322134, + -0.011102276854217052, + 0.2936634123325348, + 0.009526881389319897, + -0.0017879658844321966, + 0.7884956002235413, + -0.0024908962659537792, + 0.00197470816783607, + 1.2050271034240723, + -0.003331079613417387, + 0.04274406656622887, + 0.7499411106109619, + 0.0029447099659591913, + 0.0023368154652416706, + 1.187935709953308, + 0.0011315754381939769, + 0.0021376176737248898, + 0.766658365726471, + 1.2562350034713745, + -0.45746299624443054, + -0.0019486300880089402, + -0.002386686624959111, + -0.49464091658592224, + 0.0020636271219700575, + -0.0023566633462905884, + -0.6167545914649963 + ], + "wrist_pos": [ + 0.15563105046749115, + -0.09417147189378738, + 0.6940394043922424 + ], + "wrist_rot": [ + -0.6430000066757202, + 0.28783032298088074, + 0.6478369832038879, + 0.2898479700088501 + ], + "joint_positions": [ + 0.5993992686271667, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 80, + "virtual_xyz": [ + 0.1545363813638687, + -0.09622196108102798, + 0.6940393447875977 + ], + "wrist_rpy": [ + -1.5607595443725586, + -0.7378150820732117, + 1.577746868133545 + ], + "finger_dofs": [ + 1.3535685539245605, + -0.002333804266527295, + 0.006388163659721613, + 1.5996673107147217, + 0.001967404503375292, + -3.5303270124131814e-05, + 1.2006196975708008, + -8.953869837569073e-05, + -0.00014651652600150555, + 0.7114025354385376, + 0.002792780753225088, + 0.03514144942164421, + 0.4529826045036316, + -0.0025786447804421186, + 0.002235600957646966, + 1.1772085428237915, + -0.002150310203433037, + 0.00188220024574548, + 0.6808489561080933, + 0.004137031733989716, + -0.011163204908370972, + 0.29376888275146484, + 0.009526483714580536, + -0.0017887128051370382, + 0.7886059284210205, + -0.0024910077918320894, + 0.0019749158527702093, + 1.2050585746765137, + -0.0033234013244509697, + 0.04270488768815994, + 0.7500145435333252, + 0.002943563973531127, + 0.0023356331512331963, + 1.1879500150680542, + 0.0011280325707048178, + 0.00213792035356164, + 0.7667469382286072, + 1.2562403678894043, + -0.45731499791145325, + -0.001951538142748177, + -0.002359711565077305, + -0.4950474500656128, + 0.002051948569715023, + -0.0023303444031625986, + -0.6167426705360413 + ], + "wrist_pos": [ + 0.15453645586967468, + -0.0962219312787056, + 0.6940392851829529 + ], + "wrist_rot": [ + -0.6442285776138306, + 0.2850545048713684, + 0.6490880846977234, + 0.28705036640167236 + ], + "joint_positions": [ + 0.6080023646354675, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 81, + "virtual_xyz": [ + 0.15345945954322815, + -0.09828180819749832, + 0.6940392851829529 + ], + "wrist_rpy": [ + -1.560655117034912, + -0.7464427351951599, + 1.5778858661651611 + ], + "finger_dofs": [ + 1.3536256551742554, + -0.002331829397007823, + 0.006358081009238958, + 1.599664568901062, + 0.0019687821622937918, + -3.345134973642416e-05, + 1.2006334066390991, + -9.195961320074275e-05, + -0.00014915216888766736, + 0.7114275693893433, + 0.002794043393805623, + 0.035132355988025665, + 0.45301884412765503, + -0.0025750405620783567, + 0.0022348042111843824, + 1.1771740913391113, + -0.0021509660873562098, + 0.0018822731217369437, + 0.6807505488395691, + 0.0041358559392392635, + -0.011209900490939617, + 0.2939036190509796, + 0.009523768909275532, + -0.0017874909099191427, + 0.7887393832206726, + -0.00249090907163918, + 0.001974949147552252, + 1.205066442489624, + -0.0033249203115701675, + 0.04269110783934593, + 0.7502163052558899, + 0.002930609742179513, + 0.0023290927056223154, + 1.1880834102630615, + 0.0011321788188070059, + 0.0021381413098424673, + 0.7668754458427429, + 1.2562215328216553, + -0.45742908120155334, + -0.0019517996115610003, + -0.002358202124014497, + -0.49507173895835876, + 0.002051838207989931, + -0.0023296289145946503, + -0.6167280673980713 + ], + "wrist_pos": [ + 0.1534595489501953, + -0.09828178584575653, + 0.6940392255783081 + ], + "wrist_rot": [ + -0.6454460024833679, + 0.28227129578590393, + 0.6503269076347351, + 0.28424835205078125 + ], + "joint_positions": [ + 0.6166056990623474, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 82, + "virtual_xyz": [ + 0.15239953994750977, + -0.10034950822591782, + 0.6940390467643738 + ], + "wrist_rpy": [ + -1.5605400800704956, + -0.7550822496414185, + 1.5780237913131714 + ], + "finger_dofs": [ + 1.3536186218261719, + -0.002336231991648674, + 0.006323410198092461, + 1.5996497869491577, + 0.0019673090428113937, + -3.1686537113273516e-05, + 1.200652837753296, + -9.580789628671482e-05, + -0.000152954671648331, + 0.7115182876586914, + 0.0027950636576861143, + 0.03513501584529877, + 0.45296967029571533, + -0.0025735306553542614, + 0.0022335671819746494, + 1.1771618127822876, + -0.0021509071812033653, + 0.0018828257452696562, + 0.6807558536529541, + 0.004133606795221567, + -0.011239097453653812, + 0.29393506050109863, + 0.009527716785669327, + -0.0017864512046799064, + 0.7887940406799316, + -0.0024915209505707026, + 0.001974757295101881, + 1.205114722251892, + -0.0033268663100898266, + 0.042679037898778915, + 0.7502107620239258, + 0.0029309845995157957, + 0.002329148119315505, + 1.1880921125411987, + 0.0011354972375556827, + 0.002138518262654543, + 0.7669774889945984, + 1.2562315464019775, + -0.457444965839386, + -0.001951729180291295, + -0.002358842408284545, + -0.4951475262641907, + 0.002052108058705926, + -0.002330108778551221, + -0.6167002320289612 + ], + "wrist_pos": [ + 0.15239962935447693, + -0.10034947842359543, + 0.694038987159729 + ], + "wrist_rot": [ + -0.6466522216796875, + 0.2794751524925232, + 0.6515558958053589, + 0.2814413905143738 + ], + "joint_positions": [ + 0.6252076029777527, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 83, + "virtual_xyz": [ + 0.15135876834392548, + -0.10242895781993866, + 0.6940392255783081 + ], + "wrist_rpy": [ + -1.5604326725006104, + -0.7637010216712952, + 1.5781667232513428 + ], + "finger_dofs": [ + 1.353710412979126, + -0.002327097812667489, + 0.006326121743768454, + 1.599639892578125, + 0.0019741696305572987, + -3.1390176445711404e-05, + 1.200663685798645, + -9.846100147115067e-05, + -0.00015508351498283446, + 0.7114842534065247, + 0.002796540968120098, + 0.03513307496905327, + 0.4530476927757263, + -0.0025667829904705286, + 0.0022333278320729733, + 1.1771267652511597, + -0.0021524480544030666, + 0.0018823443679139018, + 0.680540144443512, + 0.004137723241001368, + -0.011287097819149494, + 0.2941540777683258, + 0.009518532082438469, + -0.0017855538753792644, + 0.7889724969863892, + -0.0024909607600420713, + 0.001974695362150669, + 1.2050989866256714, + -0.003319607814773917, + 0.04264376685023308, + 0.7503783106803894, + 0.0029300744645297527, + 0.0023279383312910795, + 1.1881405115127563, + 0.0011362753575667739, + 0.0021383713465183973, + 0.766983687877655, + 1.2562282085418701, + -0.457470178604126, + -0.0019512727158144116, + -0.002358580706641078, + -0.4951913356781006, + 0.0020515592768788338, + -0.002329219365492463, + -0.6166992783546448 + ], + "wrist_pos": [ + 0.15135884284973145, + -0.10242892801761627, + 0.6940391659736633 + ], + "wrist_rot": [ + -0.6478444933891296, + 0.2766851484775543, + 0.6527687311172485, + 0.27863162755966187 + ], + "joint_positions": [ + 0.6338104009628296, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 84, + "virtual_xyz": [ + 0.1503344476222992, + -0.1045147255063057, + 0.694038987159729 + ], + "wrist_rpy": [ + -1.5603134632110596, + -0.7723389267921448, + 1.5783121585845947 + ], + "finger_dofs": [ + 1.3537155389785767, + -0.0023346778471022844, + 0.006273260340094566, + 1.5996378660202026, + 0.001969251548871398, + -3.0144472475512885e-05, + 1.2006806135177612, + -0.00010213503992417827, + -0.00015836629609111696, + 0.7115616202354431, + 0.0027975374832749367, + 0.035132572054862976, + 0.4530164897441864, + -0.0025665368884801865, + 0.002232413971796632, + 1.1771060228347778, + -0.002152150496840477, + 0.0018829078180715442, + 0.6805439591407776, + 0.0041335755959153175, + -0.011324705556035042, + 0.29419147968292236, + 0.009521138854324818, + -0.0017832980956882238, + 0.7890214920043945, + -0.002491376828402281, + 0.0019744248129427433, + 1.205145001411438, + -0.0033227840904146433, + 0.04262547940015793, + 0.7503756880760193, + 0.0029303357005119324, + 0.0023283297196030617, + 1.1881507635116577, + 0.0011379775824025273, + 0.002138719195500016, + 0.767077624797821, + 1.2562328577041626, + -0.4574776291847229, + -0.001951287966221571, + -0.0023592698853462934, + -0.4952740967273712, + 0.002051879419013858, + -0.0023297357838600874, + -0.6166741251945496 + ], + "wrist_pos": [ + 0.15033453702926636, + -0.1045146957039833, + 0.6940389275550842 + ], + "wrist_rot": [ + -0.6490262746810913, + 0.2738803029060364, + 0.6539733409881592, + 0.27581357955932617 + ], + "joint_positions": [ + 0.6424137949943542, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 85, + "virtual_xyz": [ + 0.14932875335216522, + -0.10661052912473679, + 0.6940389275550842 + ], + "wrist_rpy": [ + -1.5601966381072998, + -0.7809677124023438, + 1.5784612894058228 + ], + "finger_dofs": [ + 1.3537485599517822, + -0.0023338438477367163, + 0.006246122997254133, + 1.5996325016021729, + 0.001970016397535801, + -2.8197586289024912e-05, + 1.2006947994232178, + -0.00010474887676537037, + -0.00016105138638522476, + 0.7115893959999084, + 0.002799170557409525, + 0.03512986749410629, + 0.45302239060401917, + -0.002562349196523428, + 0.002231725724413991, + 1.1770801544189453, + -0.0021528678480535746, + 0.001882948912680149, + 0.6804522275924683, + 0.004137258045375347, + -0.011369205079972744, + 0.2943006157875061, + 0.009520652703940868, + -0.0017835106700658798, + 0.7891097068786621, + -0.0024916629772633314, + 0.0019742895383387804, + 1.2051668167114258, + -0.0033191542606800795, + 0.04259572923183441, + 0.750437319278717, + 0.0029296146240085363, + 0.0023277117870748043, + 1.1881829500198364, + 0.0011397430207580328, + 0.002138826297596097, + 0.767129123210907, + 1.2562320232391357, + -0.45749926567077637, + -0.0019509767880663276, + -0.002359794219955802, + -0.4953300356864929, + 0.0020517194643616676, + -0.0023296447470784187, + -0.616659939289093 + ], + "wrist_pos": [ + 0.14932884275913239, + -0.1066104993224144, + 0.6940388679504395 + ], + "wrist_rot": [ + -0.6501952409744263, + 0.271075576543808, + 0.6551640629768372, + 0.27299121022224426 + ], + "joint_positions": [ + 0.6510164737701416, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 86, + "virtual_xyz": [ + 0.148341104388237, + -0.10871497541666031, + 0.6940388679504395 + ], + "wrist_rpy": [ + -1.5600768327713013, + -0.7895960211753845, + 1.578613042831421 + ], + "finger_dofs": [ + 1.3537918329238892, + -0.002332189818844199, + 0.006218035705387592, + 1.599627137184143, + 0.0019713514484465122, + -2.6916575734503567e-05, + 1.200709342956543, + -0.00010768826177809387, + -0.00016379020235035568, + 0.7116090059280396, + 0.0028005968779325485, + 0.03512590751051903, + 0.45304039120674133, + -0.0025585307739675045, + 0.002231151796877384, + 1.1770535707473755, + -0.0021535158157348633, + 0.001882985350675881, + 0.6803524494171143, + 0.004138111602514982, + -0.011414208449423313, + 0.2944198548793793, + 0.00951739028096199, + -0.0017820973880589008, + 0.7892064452171326, + -0.0024915577378124, + 0.0019741219002753496, + 1.205180048942566, + -0.003315933980047703, + 0.042566727846860886, + 0.7505114674568176, + 0.002929211826995015, + 0.0023271883837878704, + 1.1882160902023315, + 0.0011415892513468862, + 0.0021389173343777657, + 0.7671760320663452, + 1.2562294006347656, + -0.4575175344944, + -0.001950660371221602, + -0.002360178157687187, + -0.4953876733779907, + 0.0020515848882496357, + -0.0023294996935874224, + -0.6166465282440186 + ], + "wrist_pos": [ + 0.14834119379520416, + -0.10871494561433792, + 0.6940388083457947 + ], + "wrist_rot": [ + -0.6513519883155823, + 0.26826563477516174, + 0.6563423871994019, + 0.27016401290893555 + ], + "joint_positions": [ + 0.659619927406311, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 87, + "virtual_xyz": [ + 0.14737150073051453, + -0.11082809418439865, + 0.6940388083457947 + ], + "wrist_rpy": [ + -1.5599509477615356, + -0.7982221245765686, + 1.5787640810012817 + ], + "finger_dofs": [ + 1.3538388013839722, + -0.002334506483748555, + 0.006192164495587349, + 1.599615454673767, + 0.0019714210648089647, + -2.4164048227248713e-05, + 1.2007277011871338, + -0.0001109220611397177, + -0.00016736886755097657, + 0.7116279602050781, + 0.0028018911834806204, + 0.035121578723192215, + 0.4530603289604187, + -0.0025558213237673044, + 0.002230533864349127, + 1.1770297288894653, + -0.002154100453481078, + 0.0018829993205145001, + 0.6802198886871338, + 0.0041339462623000145, + -0.011456559412181377, + 0.2945443391799927, + 0.009505937807261944, + -0.0017766081728041172, + 0.7893169522285461, + -0.002490874147042632, + 0.0019735151436179876, + 1.2055613994598389, + -0.0033651937264949083, + 0.04242372885346413, + 0.7503702640533447, + 0.0029141653794795275, + 0.0023533105850219727, + 1.1880606412887573, + 0.0011689838720485568, + 0.0021389059256762266, + 0.7672068476676941, + 1.256227970123291, + -0.45752212405204773, + -0.001950749778188765, + -0.0023602726869285107, + -0.49544304609298706, + 0.0020515599753707647, + -0.002329329727217555, + -0.6166340708732605 + ], + "wrist_pos": [ + 0.1473715901374817, + -0.11082805693149567, + 0.6940387487411499 + ], + "wrist_rot": [ + -0.6524964570999146, + 0.2654494345188141, + 0.6575084328651428, + 0.2673344016075134 + ], + "joint_positions": [ + 0.6682233810424805, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 88, + "virtual_xyz": [ + 0.14642059803009033, + -0.11294984817504883, + 0.6940392255783081 + ], + "wrist_rpy": [ + -1.5598121881484985, + -0.8068485856056213, + 1.5789190530776978 + ], + "finger_dofs": [ + 1.3540624380111694, + -0.0022968915291130543, + 0.006100351922214031, + 1.5996350049972534, + 0.002016059122979641, + -7.245505912578665e-06, + 1.2007522583007812, + -0.00010593612387310714, + -0.00017187843332067132, + 0.7115805149078369, + 0.0027931760996580124, + 0.03512085974216461, + 0.45309892296791077, + -0.0025663094129413366, + 0.002235198626294732, + 1.1770102977752686, + -0.002151882043108344, + 0.001882124342955649, + 0.67996746301651, + 0.00411794101819396, + -0.011507268995046616, + 0.29474321007728577, + 0.009487046860158443, + -0.001765501219779253, + 0.789497971534729, + -0.0024893691297620535, + 0.001971588470041752, + 1.205320119857788, + -0.003144510556012392, + 0.04204628989100456, + 0.7503067255020142, + 0.0025116477627307177, + 0.0023750539403408766, + 1.1880916357040405, + 0.0012440074933692813, + 0.002137735253199935, + 0.7672106623649597, + 1.2562376260757446, + -0.45751431584358215, + -0.001941770315170288, + -0.002353090327233076, + -0.4954850375652313, + 0.0020478335209190845, + -0.0023335316218435764, + -0.6166228652000427 + ], + "wrist_pos": [ + 0.1464206874370575, + -0.11294981092214584, + 0.6940391659736633 + ], + "wrist_rot": [ + -0.653627336025238, + 0.26262524724006653, + 0.6586633324623108, + 0.26450294256210327 + ], + "joint_positions": [ + 0.6768254637718201, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 89, + "virtual_xyz": [ + 0.1454879492521286, + -0.11507926136255264, + 0.6940389275550842 + ], + "wrist_rpy": [ + -1.5596753358840942, + -0.8154817223548889, + 1.5790762901306152 + ], + "finger_dofs": [ + 1.3539440631866455, + -0.0023473403416574, + 0.0061304811388254166, + 1.5995893478393555, + 0.001961702248081565, + -8.69797349878354e-06, + 1.2007696628570557, + -0.00011149863712489605, + -0.0001752833923092112, + 0.7116130590438843, + 0.00279499520547688, + 0.035139184445142746, + 0.45313015580177307, + -0.002559254877269268, + 0.0022324565798044205, + 1.1769896745681763, + -0.002152825705707073, + 0.001882862183265388, + 0.679831862449646, + 0.004119176417589188, + -0.011542504653334618, + 0.29492294788360596, + 0.009484902955591679, + -0.0017639491707086563, + 0.7896215319633484, + -0.002489793114364147, + 0.0019713842775672674, + 1.2054377794265747, + -0.0031543688382953405, + 0.04198170453310013, + 0.7503534555435181, + 0.0025030863471329212, + 0.0023791776038706303, + 1.1880687475204468, + 0.001263602520339191, + 0.002138328505679965, + 0.767258882522583, + 1.2562438249588013, + -0.45749878883361816, + -0.001941667520441115, + -0.002353282645344734, + -0.49558237195014954, + 0.0020472747273743153, + -0.0023334843572229147, + -0.616594672203064 + ], + "wrist_pos": [ + 0.14548803865909576, + -0.11507922410964966, + 0.6940388679504395 + ], + "wrist_rot": [ + -0.6547476649284363, + 0.2597953677177429, + 0.6598063111305237, + 0.261663019657135 + ], + "joint_positions": [ + 0.6854326128959656, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 90, + "virtual_xyz": [ + 0.14457280933856964, + -0.11721654236316681, + 0.6940388679504395 + ], + "wrist_rpy": [ + -1.559540033340454, + -0.824103593826294, + 1.57924222946167 + ], + "finger_dofs": [ + 1.354112148284912, + -0.0023017392959445715, + 0.006034669931977987, + 1.5996190309524536, + 0.0020068963058292866, + 6.755185495421756e-07, + 1.2007827758789062, + -0.0001078835703083314, + -0.0001777231809683144, + 0.7116085886955261, + 0.002795091364532709, + 0.035138994455337524, + 0.45317474007606506, + -0.002554787090048194, + 0.0022329888306558132, + 1.1769596338272095, + -0.0021538701839745045, + 0.0018824617145583034, + 0.6797020435333252, + 0.004120745230466127, + -0.011587725020945072, + 0.29506027698516846, + 0.009481034241616726, + -0.0017625911859795451, + 0.7897275686264038, + -0.0024894888047128916, + 0.0019712678622454405, + 1.2052736282348633, + -0.003183614229783416, + 0.042021743953228, + 0.7506207227706909, + 0.0024953894317150116, + 0.0023855818435549736, + 1.1881920099258423, + 0.0012717046774923801, + 0.0021381606347858906, + 0.7672933340072632, + 1.2562378644943237, + -0.4575255811214447, + -0.0019414129201322794, + -0.0023540977854281664, + -0.49562132358551025, + 0.0020472994074225426, + -0.0023328629322350025, + -0.6165900230407715 + ], + "wrist_pos": [ + 0.1445728987455368, + -0.11721650511026382, + 0.6940388083457947 + ], + "wrist_rot": [ + -0.6558542847633362, + 0.256967693567276, + 0.6609355211257935, + 0.2588183581829071 + ], + "joint_positions": [ + 0.6940372586250305, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 91, + "virtual_xyz": [ + 0.1436762809753418, + -0.11936169117689133, + 0.6940388679504395 + ], + "wrist_rpy": [ + -1.5593993663787842, + -0.8327292799949646, + 1.5794155597686768 + ], + "finger_dofs": [ + 1.3541803359985352, + -0.0022992801386862993, + 0.005984898656606674, + 1.5996257066726685, + 0.002005455782637, + 7.369144896074431e-06, + 1.2007955312728882, + -0.00010646391456248239, + -0.00018014990200754255, + 0.7116131782531738, + 0.0027966664638370275, + 0.03513316810131073, + 0.45320430397987366, + -0.0025516985915601254, + 0.002232748782262206, + 1.1769229173660278, + -0.0021543744951486588, + 0.0018824688158929348, + 0.6795861721038818, + 0.004122347570955753, + -0.011642168276011944, + 0.2951871454715729, + 0.00947908591479063, + -0.001761231105774641, + 0.7898203134536743, + -0.00248954095877707, + 0.0019710282795131207, + 1.2052632570266724, + -0.0031810069922357798, + 0.04199414700269699, + 0.750740647315979, + 0.002494375454261899, + 0.002385311294347048, + 1.1881661415100098, + 0.001260903780348599, + 0.002138228388503194, + 0.7673463225364685, + 1.2562364339828491, + -0.4575587213039398, + -0.0019411772955209017, + -0.002354465425014496, + -0.49566999077796936, + 0.0020471750758588314, + -0.0023327425587922335, + -0.6165788173675537 + ], + "wrist_pos": [ + 0.14367637038230896, + -0.11936165392398834, + 0.6940388083457947 + ], + "wrist_rot": [ + -0.6569483876228333, + 0.2541346549987793, + 0.6620538234710693, + 0.2559668719768524 + ], + "joint_positions": [ + 0.702642560005188, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 92, + "virtual_xyz": [ + 0.14279784262180328, + -0.12151437997817993, + 0.6940388083457947 + ], + "wrist_rpy": [ + -1.5592575073242188, + -0.8413529992103577, + 1.5795886516571045 + ], + "finger_dofs": [ + 1.3542253971099854, + -0.0022975346073508263, + 0.005950866267085075, + 1.599623441696167, + 0.0020051845349371433, + 1.1260661267442629e-05, + 1.2008086442947388, + -0.00010748332715593278, + -0.00018277126946486533, + 0.7116148471832275, + 0.002798195695504546, + 0.03512738272547722, + 0.4532299041748047, + -0.002549396362155676, + 0.0022325129248201847, + 1.1768949031829834, + -0.0021547393407672644, + 0.0018825135193765163, + 0.6794793605804443, + 0.004123259335756302, + -0.01168760098516941, + 0.2952997088432312, + 0.009476454928517342, + -0.0017596149118617177, + 0.7898993492126465, + -0.002489443402737379, + 0.0019708271138370037, + 1.2052537202835083, + -0.0031786421313881874, + 0.041966333985328674, + 0.7508333325386047, + 0.002493692096322775, + 0.0023851515725255013, + 1.1881732940673828, + 0.001256631570868194, + 0.0021383173298090696, + 0.7673880457878113, + 1.2562309503555298, + -0.45758479833602905, + -0.0019409509841352701, + -0.002354994183406234, + -0.495710164308548, + 0.0020471427123993635, + -0.0023328105453401804, + -0.616567850112915 + ], + "wrist_pos": [ + 0.14279794692993164, + -0.12151435017585754, + 0.6940387487411499 + ], + "wrist_rot": [ + -0.6580308675765991, + 0.25129711627960205, + 0.663158655166626, + 0.2531116008758545 + ], + "joint_positions": [ + 0.7112482786178589, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 93, + "virtual_xyz": [ + 0.14193777740001678, + -0.12367475032806396, + 0.6940388083457947 + ], + "wrist_rpy": [ + -1.5591135025024414, + -0.8499730229377747, + 1.5797650814056396 + ], + "finger_dofs": [ + 1.3543189764022827, + -0.0023196947295218706, + 0.005945888813585043, + 1.5996143817901611, + 0.00199001282453537, + 1.1608777640503831e-05, + 1.2008227109909058, + -0.00011106905731139705, + -0.00018539236043579876, + 0.7116736173629761, + 0.002797759836539626, + 0.03511250019073486, + 0.4535272717475891, + -0.002550257835537195, + 0.002230569254606962, + 1.1768994331359863, + -0.0021518804132938385, + 0.0018821003613993526, + 0.6793486475944519, + 0.004124369006603956, + -0.011718601919710636, + 0.29544320702552795, + 0.009476516395807266, + -0.0017606497276574373, + 0.7899885773658752, + -0.0024895831011235714, + 0.0019706578459590673, + 1.2052658796310425, + -0.0031752123031765223, + 0.04193592816591263, + 0.7510291337966919, + 0.0024978024885058403, + 0.0023824931122362614, + 1.1881983280181885, + 0.0012521374737843871, + 0.0021380039397627115, + 0.7674145698547363, + 1.2562240362167358, + -0.4576083719730377, + -0.0019404207123443484, + -0.0023553017526865005, + -0.4957388639450073, + 0.002047045389190316, + -0.0023326000664383173, + -0.6165640950202942 + ], + "wrist_pos": [ + 0.14193786680698395, + -0.12367470562458038, + 0.6940387487411499 + ], + "wrist_rot": [ + -0.6591008305549622, + 0.24845653772354126, + 0.6642506718635559, + 0.25025269389152527 + ], + "joint_positions": [ + 0.7198536992073059, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 94, + "virtual_xyz": [ + 0.1410970389842987, + -0.1258423924446106, + 0.6940388083457947 + ], + "wrist_rpy": [ + -1.558951497077942, + -0.8586180806159973, + 1.580067753791809 + ], + "finger_dofs": [ + 1.3541698455810547, + 0.0006613960140384734, + 0.005190600641071796, + 1.600034236907959, + 0.0024845777079463005, + 0.00034851854434236884, + 1.2008097171783447, + 0.00011430044105509296, + -0.00017411718727089465, + 0.7117763161659241, + 0.002819961402565241, + 0.03482794016599655, + 0.45344847440719604, + -0.002493984531611204, + 0.002260120352730155, + 1.1769033670425415, + -0.0021725045517086983, + 0.001872012740932405, + 0.6795451641082764, + 0.004117095377296209, + -0.012070687487721443, + 0.29535457491874695, + 0.00956219807267189, + -0.0017494269413873553, + 0.7900705933570862, + -0.0025012826081365347, + 0.0019714690279215574, + 1.2054158449172974, + -0.003146474016830325, + 0.04168308898806572, + 0.7509559392929077, + 0.002514500869438052, + 0.002400170313194394, + 1.1882498264312744, + 0.0011853720061481, + 0.002136396709829569, + 0.7679460644721985, + 1.2562484741210938, + -0.45818638801574707, + -0.0019431875552982092, + -0.0023733777925372124, + -0.4956839382648468, + 0.0020517688244581223, + -0.002330023329705, + -0.6166045665740967 + ], + "wrist_pos": [ + 0.14109712839126587, + -0.12584234774112701, + 0.6940387487411499 + ], + "wrist_rot": [ + -0.6601449251174927, + 0.24563901126384735, + 0.6653501987457275, + 0.24734453856945038 + ], + "joint_positions": [ + 0.7284648418426514, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 95, + "virtual_xyz": [ + 0.14027412235736847, + -0.1280181109905243, + 0.6940383315086365 + ], + "wrist_rpy": [ + -1.5588221549987793, + -0.8672534227371216, + 1.5800758600234985 + ], + "finger_dofs": [ + 1.354141354560852, + -0.00232865521684289, + 0.005629050079733133, + 1.5996239185333252, + 0.0019628298468887806, + 0.00017507013399153948, + 1.200890064239502, + -2.768503145489376e-05, + -0.00019295366655569524, + 0.7118625640869141, + 0.00280117429792881, + 0.03515136241912842, + 0.4531221091747284, + -0.002515185857191682, + 0.002226992277428508, + 1.176994800567627, + -0.0021623705979436636, + 0.0018816273659467697, + 0.6791598200798035, + 0.004144517704844475, + -0.011647123843431473, + 0.29586565494537354, + 0.009485768154263496, + -0.0017683202167972922, + 0.7903921604156494, + -0.0024911104701459408, + 0.001972747500985861, + 1.2057363986968994, + -0.003399495966732502, + 0.042286068201065063, + 0.7511947751045227, + 0.0028684199787676334, + 0.002361421938985586, + 1.1884174346923828, + 0.0012579773319885135, + 0.0021386307198554277, + 0.7674959301948547, + 1.25621497631073, + -0.4574163854122162, + -0.0019492468563839793, + -0.0023658310528844595, + -0.49600082635879517, + 0.0020533858332782984, + -0.002331545576453209, + -0.6164851188659668 + ], + "wrist_pos": [ + 0.14027419686317444, + -0.1280180662870407, + 0.6940382719039917 + ], + "wrist_rot": [ + -0.6612164378166199, + 0.24273358285427094, + 0.6663947105407715, + 0.24452263116836548 + ], + "joint_positions": [ + 0.7370958924293518, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 96, + "virtual_xyz": [ + 0.13946843147277832, + -0.13019858300685883, + 0.6940382122993469 + ], + "wrist_rpy": [ + -1.5586999654769897, + -0.8758547902107239, + 1.5802992582321167 + ], + "finger_dofs": [ + 1.3544013500213623, + -0.0022860656026750803, + 0.005818513222038746, + 1.5996259450912476, + 0.0020190319046378136, + 5.2332743507577106e-05, + 1.2008529901504517, + -9.384921577293426e-05, + -0.0001896816975204274, + 0.7118003368377686, + 0.002813297091051936, + 0.035123664885759354, + 0.45332369208335876, + -0.002521352842450142, + 0.002226544078439474, + 1.1767702102661133, + -0.0021605240181088448, + 0.0018827494932338595, + 0.6793149709701538, + 0.004142872989177704, + -0.01184165570884943, + 0.29569903016090393, + 0.009478345513343811, + -0.0017654809635132551, + 0.7902012467384338, + -0.0024903661105781794, + 0.0019720178097486496, + 1.2056642770767212, + -0.0034003222826868296, + 0.04219571873545647, + 0.7512204051017761, + 0.002866639755666256, + 0.0023585797753185034, + 1.1884968280792236, + 0.0012382548302412033, + 0.0021392321214079857, + 0.7676007151603699, + 1.2561718225479126, + -0.4576285481452942, + -0.0019483203068375587, + -0.0023638245183974504, + -0.4959610104560852, + 0.0020501555409282446, + -0.002327092457562685, + -0.6165279746055603 + ], + "wrist_pos": [ + 0.13946852087974548, + -0.13019853830337524, + 0.6940381526947021 + ], + "wrist_rot": [ + -0.6622469425201416, + 0.23990848660469055, + 0.6674477458000183, + 0.24163278937339783 + ], + "joint_positions": [ + 0.7456994652748108, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 97, + "virtual_xyz": [ + 0.13868403434753418, + -0.13238775730133057, + 0.6940385699272156 + ], + "wrist_rpy": [ + -1.5585148334503174, + -0.8844700455665588, + 1.5804946422576904 + ], + "finger_dofs": [ + 1.354511022567749, + -0.002318166196346283, + 0.005824486259371042, + 1.5995924472808838, + 0.0019921089988201857, + 2.8672744520008564e-05, + 1.2008814811706543, + -0.00011546140012796968, + -0.00019612116739153862, + 0.7117742300033569, + 0.0028047917876392603, + 0.03507833927869797, + 0.4536301791667938, + -0.0025414186529815197, + 0.0022286660969257355, + 1.17678964138031, + -0.002153621753677726, + 0.0018820810364559293, + 0.6789897680282593, + 0.004120170138776302, + -0.011899197474122047, + 0.29594117403030396, + 0.009451149962842464, + -0.0017516340594738722, + 0.7903685569763184, + -0.0024881057906895876, + 0.0019698673859238625, + 1.2054451704025269, + -0.0031320617999881506, + 0.041790254414081573, + 0.7511264085769653, + 0.0025122477672994137, + 0.0023704341147094965, + 1.188337802886963, + 0.0012686491245403886, + 0.00213805353268981, + 0.7675992846488953, + 1.2561821937561035, + -0.4576434791088104, + -0.0019395973067730665, + -0.0023559557739645243, + -0.4959825873374939, + 0.002046318957582116, + -0.0023315190337598324, + -0.6165196895599365 + ], + "wrist_pos": [ + 0.13868412375450134, + -0.13238771259784698, + 0.6940385103225708 + ], + "wrist_rot": [ + -0.6632636785507202, + 0.23704418540000916, + 0.6684930920600891, + 0.2387641817331314 + ], + "joint_positions": [ + 0.754303514957428, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 98, + "virtual_xyz": [ + 0.13791786134243011, + -0.13458310067653656, + 0.6940385699272156 + ], + "wrist_rpy": [ + -1.5583150386810303, + -0.8931059241294861, + 1.5808254480361938 + ], + "finger_dofs": [ + 1.354353904724121, + 0.0006736000650562346, + 0.005085347220301628, + 1.6000040769577026, + 0.0024874559603631496, + 0.0003585799131542444, + 1.2008721828460693, + 0.00010428635869175196, + -0.0001857435272540897, + 0.7118394374847412, + 0.0028266278095543385, + 0.03480242192745209, + 0.45358601212501526, + -0.0024775899946689606, + 0.002256733365356922, + 1.176801323890686, + -0.0021757353097200394, + 0.0018721086671575904, + 0.6790999174118042, + 0.004120512865483761, + -0.012243876233696938, + 0.2959107756614685, + 0.00954435858875513, + -0.0017435809131711721, + 0.7904738783836365, + -0.002500788075849414, + 0.0019707386381924152, + 1.2054764032363892, + -0.0031378797721117735, + 0.04158426448702812, + 0.7512447834014893, + 0.0025133942253887653, + 0.0023985651787370443, + 1.18843412399292, + 0.001200873521156609, + 0.002136630704626441, + 0.7681246399879456, + 1.2562215328216553, + -0.45823994278907776, + -0.0019419306190684438, + -0.0023751920089125633, + -0.49589988589286804, + 0.002051190473139286, + -0.002329269191250205, + -0.616567075252533 + ], + "wrist_pos": [ + 0.13791796565055847, + -0.13458305597305298, + 0.6940385103225708 + ], + "wrist_rot": [ + -0.6642540693283081, + 0.23420846462249756, + 0.6695449948310852, + 0.2358439564704895 + ], + "joint_positions": [ + 0.7629130482673645, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 99, + "virtual_xyz": [ + 0.1371700018644333, + -0.13678596913814545, + 0.6940379738807678 + ], + "wrist_rpy": [ + -1.5581575632095337, + -0.9017396569252014, + 1.5808489322662354 + ], + "finger_dofs": [ + 1.354313850402832, + -0.0023269420489668846, + 0.005500109400600195, + 1.5995985269546509, + 0.00196245894767344, + 0.00019286610768176615, + 1.2009536027908325, + -3.307478618808091e-05, + -0.00020472329924814403, + 0.7119073867797852, + 0.002805081196129322, + 0.03513510525226593, + 0.45325809717178345, + -0.0025000018067657948, + 0.002224280033260584, + 1.1769089698791504, + -0.0021653822623193264, + 0.0018816543743014336, + 0.6786615252494812, + 0.004147266503423452, + -0.011805525980889797, + 0.2964452803134918, + 0.009472204372286797, + -0.0017624516040086746, + 0.7908133864402771, + -0.00249090394936502, + 0.001972007565200329, + 1.2057543992996216, + -0.0033928845077753067, + 0.04219347983598709, + 0.7515367269515991, + 0.0028676458168774843, + 0.0023601555731147528, + 1.1885387897491455, + 0.0012627082178369164, + 0.0021388365421444178, + 0.7676573991775513, + 1.2562015056610107, + -0.45745134353637695, + -0.0019483733922243118, + -0.00236737122759223, + -0.4962202310562134, + 0.002052794909104705, + -0.002330718794837594, + -0.6164470911026001 + ], + "wrist_pos": [ + 0.13717009127140045, + -0.13678592443466187, + 0.694037914276123 + ], + "wrist_rot": [ + -0.665273904800415, + 0.23128142952919006, + 0.6705419421195984, + 0.23300860822200775 + ], + "joint_positions": [ + 0.7715436816215515, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 100, + "virtual_xyz": [ + 0.13643936812877655, + -0.13899299502372742, + 0.6940380930900574 + ], + "wrist_rpy": [ + -1.55801522731781, + -0.9103399515151978, + 1.5810929536819458 + ], + "finger_dofs": [ + 1.354567050933838, + -0.0022830204106867313, + 0.005714149214327335, + 1.5995925664901733, + 0.002021264750510454, + 6.272742757573724e-05, + 1.2009148597717285, + -0.0001035693712765351, + -0.00020142844005022198, + 0.7118414640426636, + 0.0028175844345241785, + 0.03511137515306473, + 0.45346519351005554, + -0.002508131554350257, + 0.0022241531405597925, + 1.1766703128814697, + -0.0021631077397614717, + 0.0018828015308827162, + 0.6788148880004883, + 0.004143776837736368, + -0.012003738433122635, + 0.29627203941345215, + 0.009461024776101112, + -0.001759348320774734, + 0.7906047105789185, + -0.0024899428244680166, + 0.0019712038338184357, + 1.2056688070297241, + -0.003395848674699664, + 0.0421009361743927, + 0.751579761505127, + 0.0028664402198046446, + 0.002357154618948698, + 1.1885952949523926, + 0.0012402235297486186, + 0.002139414893463254, + 0.7677692770957947, + 1.2561534643173218, + -0.4576846659183502, + -0.0019476352026686072, + -0.0023648031055927277, + -0.49615421891212463, + 0.0020496633369475603, + -0.0023263676557689905, + -0.6164909601211548 + ], + "wrist_pos": [ + 0.1364394575357437, + -0.13899295032024384, + 0.6940380334854126 + ], + "wrist_rot": [ + -0.6662544012069702, + 0.22843962907791138, + 0.6715457439422607, + 0.23010149598121643 + ], + "joint_positions": [ + 0.7801478505134583, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 101, + "virtual_xyz": [ + 0.1357308030128479, + -0.14120787382125854, + 0.6940385103225708 + ], + "wrist_rpy": [ + -1.5577994585037231, + -0.9189736247062683, + 1.5814380645751953 + ], + "finger_dofs": [ + 1.3544669151306152, + 0.0006826469907537103, + 0.004987398628145456, + 1.5999891757965088, + 0.0024903228040784597, + 0.0003738258092198521, + 1.200914978981018, + 0.00010231211490463465, + -0.00019363383762538433, + 0.7118990421295166, + 0.0028337559197098017, + 0.034773267805576324, + 0.4536382257938385, + -0.002471750834956765, + 0.0022554148454219103, + 1.1767137050628662, + -0.0021768275182694197, + 0.001872098189778626, + 0.6788439154624939, + 0.004120517522096634, + -0.01237556803971529, + 0.2962445318698883, + 0.009529171511530876, + -0.0017387173138558865, + 0.7906917929649353, + -0.0025001836474984884, + 0.0019701067358255386, + 1.2055888175964355, + -0.0030947651248425245, + 0.041463833302259445, + 0.7512977123260498, + 0.0025280711706727743, + 0.002386844716966152, + 1.188446044921875, + 0.0012033573584631085, + 0.002136646769940853, + 0.7682516574859619, + 1.2561818361282349, + -0.45828181505203247, + -0.0019407764775678515, + -0.0023765163496136665, + -0.4960378110408783, + 0.002050797687843442, + -0.0023290282115340233, + -0.6165363788604736 + ], + "wrist_pos": [ + 0.13573089241981506, + -0.14120782911777496, + 0.694038450717926 + ], + "wrist_rot": [ + -0.6672077775001526, + 0.22559143602848053, + 0.6725595593452454, + 0.22716915607452393 + ], + "joint_positions": [ + 0.7887534499168396, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 102, + "virtual_xyz": [ + 0.1350397765636444, + -0.14342936873435974, + 0.694037914276123 + ], + "wrist_rpy": [ + -1.557612419128418, + -0.9276002049446106, + 1.5814776420593262 + ], + "finger_dofs": [ + 1.3544273376464844, + -0.002325495472177863, + 0.005419417284429073, + 1.5995728969573975, + 0.0019633425399661064, + 0.0002037329104496166, + 1.2009999752044678, + -3.857614501612261e-05, + -0.00021338823717087507, + 0.7119398713111877, + 0.002807433484122157, + 0.03511514887213707, + 0.4533553123474121, + -0.002490550046786666, + 0.002222401322796941, + 1.1768523454666138, + -0.002167303580790758, + 0.0018816646188497543, + 0.6783111095428467, + 0.004148249980062246, + -0.011917201802134514, + 0.29686376452445984, + 0.009459876455366611, + -0.0017575547099113464, + 0.7910880446434021, + -0.0024905235040932894, + 0.0019714180380105972, + 1.205768346786499, + -0.003388054436072707, + 0.04212076589465141, + 0.7517499327659607, + 0.0028658402152359486, + 0.0023594179656356573, + 1.1886669397354126, + 0.0012717144563794136, + 0.0021389108151197433, + 0.7677738666534424, + 1.256178617477417, + -0.4574904441833496, + -0.0019479217007756233, + -0.002368203829973936, + -0.49634939432144165, + 0.002052382566034794, + -0.0023301010951399803, + -0.6164220571517944 + ], + "wrist_pos": [ + 0.13503986597061157, + -0.14342932403087616, + 0.6940378546714783 + ], + "wrist_rot": [ + -0.6681869029998779, + 0.2226492166519165, + 0.6735208630561829, + 0.22432827949523926 + ], + "joint_positions": [ + 0.7973842024803162, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 103, + "virtual_xyz": [ + 0.1343660205602646, + -0.1456545889377594, + 0.6940377950668335 + ], + "wrist_rpy": [ + -1.5574496984481812, + -0.9361980557441711, + 1.581738829612732 + ], + "finger_dofs": [ + 1.354677438735962, + -0.0022812634706497192, + 0.005633641965687275, + 1.5995675325393677, + 0.00202195649035275, + 7.027514948276803e-05, + 1.2009612321853638, + -0.00011114787048427388, + -0.0002102330035995692, + 0.7118585109710693, + 0.0028199120424687862, + 0.03509969264268875, + 0.45356056094169617, + -0.0025003429036587477, + 0.0022228227462619543, + 1.1766027212142944, + -0.002164552453905344, + 0.001882818411104381, + 0.6784532070159912, + 0.004144259262830019, + -0.012121304869651794, + 0.2966822385787964, + 0.009449114091694355, + -0.0017540438566356897, + 0.7908576726913452, + -0.002489465521648526, + 0.0019705602899193764, + 1.2056645154953003, + -0.0033925403840839863, + 0.042016614228487015, + 0.7518035173416138, + 0.002864019013941288, + 0.002356545766815543, + 1.1886887550354004, + 0.0012470099609345198, + 0.002139478223398328, + 0.7678825855255127, + 1.256129264831543, + -0.4577280580997467, + -0.001947214943356812, + -0.0023656063713133335, + -0.4962747395038605, + 0.0020492805633693933, + -0.002325868932530284, + -0.6164667010307312 + ], + "wrist_pos": [ + 0.13436609506607056, + -0.14565454423427582, + 0.6940377354621887 + ], + "wrist_rot": [ + -0.6691292524337769, + 0.2197946161031723, + 0.6744879484176636, + 0.22140996158123016 + ], + "joint_positions": [ + 0.8059886693954468, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 104, + "virtual_xyz": [ + 0.13371269404888153, + -0.1478867083787918, + 0.6940377950668335 + ], + "wrist_rpy": [ + -1.5572502613067627, + -0.9448055028915405, + 1.58197820186615 + ], + "finger_dofs": [ + 1.3547630310058594, + -0.002299718791618943, + 0.005630038678646088, + 1.5995628833770752, + 0.0020058387890458107, + 3.310980901005678e-05, + 1.2009714841842651, + -0.00013722847506869584, + -0.00021337099315132946, + 0.7118561863899231, + 0.0028185078408569098, + 0.035043783485889435, + 0.45387837290763855, + -0.002505622571334243, + 0.0022216206416487694, + 1.1765974760055542, + -0.002160809002816677, + 0.0018824479775503278, + 0.6783185601234436, + 0.004148551728576422, + -0.012176723219454288, + 0.29679712653160095, + 0.00945353228598833, + -0.0017558542313054204, + 0.7908435463905334, + -0.00248987996019423, + 0.0019702515564858913, + 1.2056348323822021, + -0.003387453267350793, + 0.04196637496352196, + 0.7519900798797607, + 0.00286996946670115, + 0.002353472402319312, + 1.1887235641479492, + 0.0012382688000798225, + 0.0021390824113041162, + 0.7679089903831482, + 1.2561057806015015, + -0.4578074514865875, + -0.0019467535894364119, + -0.0023664601612836123, + -0.49624332785606384, + 0.0020492973271757364, + -0.0023259916342794895, + -0.616475522518158 + ], + "wrist_pos": [ + 0.1337127834558487, + -0.14788666367530823, + 0.6940377354621887 + ], + "wrist_rot": [ + -0.670059859752655, + 0.21691329777240753, + 0.6754437685012817, + 0.218503937125206 + ], + "joint_positions": [ + 0.8145942091941833, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 105, + "virtual_xyz": [ + 0.1330789476633072, + -0.1501244455575943, + 0.6940377354621887 + ], + "wrist_rpy": [ + -1.5570348501205444, + -0.9534221291542053, + 1.5822166204452515 + ], + "finger_dofs": [ + 1.3548026084899902, + -0.00229908456094563, + 0.005595531780272722, + 1.5995529890060425, + 0.002002824330702424, + 2.836452222254593e-05, + 1.2009897232055664, + -0.00014451473543886095, + -0.00021703523816540837, + 0.7118241190910339, + 0.0028187150601297617, + 0.035036396235227585, + 0.4539256691932678, + -0.002504544099792838, + 0.002221766859292984, + 1.176587462425232, + -0.0021609803661704063, + 0.0018824348226189613, + 0.6781503558158875, + 0.004148303065448999, + -0.012215953320264816, + 0.2969585359096527, + 0.009451081044971943, + -0.0017541341949254274, + 0.7909033298492432, + -0.0024899442214518785, + 0.001969949807971716, + 1.2055927515029907, + -0.0033881610725075006, + 0.04193957522511482, + 0.752105176448822, + 0.0028699073009192944, + 0.0023535669315606356, + 1.1887420415878296, + 0.0012351410696282983, + 0.0021390728652477264, + 0.7679408192634583, + 1.2560960054397583, + -0.4578397870063782, + -0.0019466240191832185, + -0.002366992412135005, + -0.49626100063323975, + 0.002049315720796585, + -0.002326024230569601, + -0.6164674758911133 + ], + "wrist_pos": [ + 0.13307902216911316, + -0.15012440085411072, + 0.694037675857544 + ], + "wrist_rot": [ + -0.6709787845611572, + 0.21401925384998322, + 0.6763884425163269, + 0.21559642255306244 + ], + "joint_positions": [ + 0.8232046365737915, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 106, + "virtual_xyz": [ + 0.13246431946754456, + -0.15236757695674896, + 0.694037675857544 + ], + "wrist_rpy": [ + -1.5568149089813232, + -0.962040364742279, + 1.5824592113494873 + ], + "finger_dofs": [ + 1.3548271656036377, + -0.0022981136571615934, + 0.005569541826844215, + 1.5995409488677979, + 0.0020024979021400213, + 2.9092105251038447e-05, + 1.2010068893432617, + -0.00014839823415968567, + -0.00022027886006981134, + 0.7118141055107117, + 0.002818998647853732, + 0.03503233566880226, + 0.453951358795166, + -0.0025031103286892176, + 0.0022216157522052526, + 1.17657470703125, + -0.0021612357813864946, + 0.0018824314465746284, + 0.6780049204826355, + 0.0041499356739223, + -0.012249303981661797, + 0.2971058189868927, + 0.00944896973669529, + -0.0017527545569464564, + 0.7909612059593201, + -0.002489888109266758, + 0.0019697058014571667, + 1.205564260482788, + -0.0033873310312628746, + 0.04191643372178078, + 0.7521997094154358, + 0.002869786461815238, + 0.002353273332118988, + 1.1887587308883667, + 0.0012337745865806937, + 0.0021390821784734726, + 0.767970621585846, + 1.2560882568359375, + -0.45785975456237793, + -0.0019465564982965589, + -0.002367239911109209, + -0.4962822198867798, + 0.0020492656622081995, + -0.0023259723093360662, + -0.6164592504501343 + ], + "wrist_pos": [ + 0.13246439397335052, + -0.15236753225326538, + 0.6940376162528992 + ], + "wrist_rot": [ + -0.6718857884407043, + 0.2111203819513321, + 0.6773203015327454, + 0.2126847207546234 + ], + "joint_positions": [ + 0.8318164348602295, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 107, + "virtual_xyz": [ + 0.1318688839673996, + -0.15461599826812744, + 0.6940376162528992 + ], + "wrist_rpy": [ + -1.5565900802612305, + -0.9706580638885498, + 1.5827069282531738 + ], + "finger_dofs": [ + 1.354849100112915, + -0.0022969646379351616, + 0.005546400789171457, + 1.5995291471481323, + 0.0020026632118970156, + 3.087057848460972e-05, + 1.2010226249694824, + -0.00015154194261413068, + -0.00022334889217745513, + 0.71180659532547, + 0.0028193211182951927, + 0.035029273480176926, + 0.4539741575717926, + -0.0025013983249664307, + 0.002221435308456421, + 1.176558256149292, + -0.0021615303121507168, + 0.001882419572211802, + 0.6778649687767029, + 0.004151211120188236, + -0.012278936803340912, + 0.2972513735294342, + 0.009448149241507053, + -0.0017517866799607873, + 0.7910196185112, + -0.0024900336284190416, + 0.001969474833458662, + 1.2055400609970093, + -0.0033862723503261805, + 0.041894614696502686, + 0.752286970615387, + 0.0028697180096060038, + 0.002353103132918477, + 1.1887750625610352, + 0.0012325248681008816, + 0.0021390800829976797, + 0.7680020332336426, + 1.2560786008834839, + -0.45788097381591797, + -0.0019463143544271588, + -0.00236784340813756, + -0.4963022470474243, + 0.002049189293757081, + -0.002326010959222913, + -0.6164516806602478 + ], + "wrist_pos": [ + 0.13186895847320557, + -0.15461595356464386, + 0.6940375566482544 + ], + "wrist_rot": [ + -0.6727805733680725, + 0.2082180380821228, + 0.6782392859458923, + 0.20976883172988892 + ], + "joint_positions": [ + 0.8404293060302734, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 108, + "virtual_xyz": [ + 0.1312926709651947, + -0.15686945617198944, + 0.6940376162528992 + ], + "wrist_rpy": [ + -1.5563591718673706, + -0.9792748093605042, + 1.5829609632492065 + ], + "finger_dofs": [ + 1.354870080947876, + -0.0022974072489887476, + 0.0055223326198756695, + 1.5995174646377563, + 0.002002457622438669, + 3.276501956861466e-05, + 1.2010388374328613, + -0.00015461469592992216, + -0.00022637186339125037, + 0.7118003368377686, + 0.0028196813073009253, + 0.03502555936574936, + 0.453998327255249, + -0.0024999019224196672, + 0.0022212013136595488, + 1.1765432357788086, + -0.002161832293495536, + 0.0018824170110747218, + 0.6777262091636658, + 0.004151815082877874, + -0.012310749851167202, + 0.2973874807357788, + 0.009445298463106155, + -0.0017509906319901347, + 0.7910776138305664, + -0.0024901246652007103, + 0.0019692208152264357, + 1.2055180072784424, + -0.003386162919923663, + 0.04187307134270668, + 0.752370297908783, + 0.0028697061352431774, + 0.0023529164027422667, + 1.1887927055358887, + 0.0012316517531871796, + 0.002139065181836486, + 0.7680296897888184, + 1.256069302558899, + -0.4578976035118103, + -0.0019462141208350658, + -0.002368002897128463, + -0.4963221251964569, + 0.0020491669420152903, + -0.0023259720765054226, + -0.6164445281028748 + ], + "wrist_pos": [ + 0.13129273056983948, + -0.15686939656734467, + 0.6940375566482544 + ], + "wrist_rot": [ + -0.6736629605293274, + 0.2053120881319046, + 0.6791454553604126, + 0.20684923231601715 + ], + "joint_positions": [ + 0.8490431308746338, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 109, + "virtual_xyz": [ + 0.13073576986789703, + -0.15912775695323944, + 0.6940375566482544 + ], + "wrist_rpy": [ + -1.5561217069625854, + -0.9878909587860107, + 1.5832215547561646 + ], + "finger_dofs": [ + 1.354889988899231, + -0.0022970596328377724, + 0.005498824641108513, + 1.5995064973831177, + 0.002001895336434245, + 3.521301186992787e-05, + 1.2010544538497925, + -0.00015724042896181345, + -0.000229312339797616, + 0.7117917537689209, + 0.0028198726940900087, + 0.035021860152482986, + 0.4540199339389801, + -0.002499448833987117, + 0.0022212478797882795, + 1.176526427268982, + -0.0021618842147290707, + 0.0018824025755748153, + 0.6775932312011719, + 0.004151244647800922, + -0.012340197339653969, + 0.2975221872329712, + 0.009441993199288845, + -0.0017492609331384301, + 0.7911323308944702, + -0.0024899994023144245, + 0.001968978438526392, + 1.20549476146698, + -0.003386216936632991, + 0.041850898414850235, + 0.7524477243423462, + 0.0028694213833659887, + 0.00235294783487916, + 1.1888071298599243, + 0.0012308105360716581, + 0.0021390339825302362, + 0.768056333065033, + 1.2560572624206543, + -0.45791664719581604, + -0.0019461385672912002, + -0.002368443412706256, + -0.4963374435901642, + 0.002049110596999526, + -0.002325988607481122, + -0.6164379715919495 + ], + "wrist_pos": [ + 0.130735844373703, + -0.15912769734859467, + 0.6940374970436096 + ], + "wrist_rot": [ + -0.6745327711105347, + 0.20240256190299988, + 0.6800388693809509, + 0.20392602682113647 + ], + "joint_positions": [ + 0.8576574325561523, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 110, + "virtual_xyz": [ + 0.1301981657743454, + -0.1613907814025879, + 0.6940374970436096 + ], + "wrist_rpy": [ + -1.5558769702911377, + -0.9965060949325562, + 1.5834896564483643 + ], + "finger_dofs": [ + 1.354909062385559, + -0.0022968174889683723, + 0.005476154386997223, + 1.5994943380355835, + 0.0020016515627503395, + 3.734554411494173e-05, + 1.2010703086853027, + -0.00016007920203264803, + -0.00023225168115459383, + 0.7117851376533508, + 0.0028201264794915915, + 0.03501938283443451, + 0.454044371843338, + -0.002497241832315922, + 0.0022209277376532555, + 1.1765079498291016, + -0.0021623142529278994, + 0.0018823860445991158, + 0.6774630546569824, + 0.004152391571551561, + -0.012371324002742767, + 0.29765430092811584, + 0.009439016692340374, + -0.001747787813656032, + 0.7911825180053711, + -0.0024898650590330362, + 0.0019687337335199118, + 1.2054722309112549, + -0.003385919379070401, + 0.041829463094472885, + 0.7525282502174377, + 0.0028692632913589478, + 0.0023528316523879766, + 1.1888214349746704, + 0.0012293185573071241, + 0.0021389999892562628, + 0.7680819630622864, + 1.2560458183288574, + -0.45793429017066956, + -0.0019459690665826201, + -0.002368747955188155, + -0.4963521957397461, + 0.002049041213467717, + -0.002325918758288026, + -0.6164323687553406 + ], + "wrist_pos": [ + 0.13019824028015137, + -0.16139072179794312, + 0.6940374374389648 + ], + "wrist_rot": [ + -0.6753898859024048, + 0.19948968291282654, + 0.6809196472167969, + 0.20099931955337524 + ], + "joint_positions": [ + 0.8662724494934082, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 111, + "virtual_xyz": [ + 0.12967994809150696, + -0.16365842521190643, + 0.6940374970436096 + ], + "wrist_rpy": [ + -1.555624008178711, + -1.0051206350326538, + 1.5837657451629639 + ], + "finger_dofs": [ + 1.3549261093139648, + -0.0022964454255998135, + 0.005453083198517561, + 1.599482536315918, + 0.0020016657654196024, + 3.9646409277338535e-05, + 1.2010860443115234, + -0.0001628093159524724, + -0.00023520292597822845, + 0.7117759585380554, + 0.0028206524439156055, + 0.03501537814736366, + 0.4540683925151825, + -0.0024960876908153296, + 0.0022207596339285374, + 1.1764925718307495, + -0.002162541262805462, + 0.0018823712598532438, + 0.6773277521133423, + 0.004153199959546328, + -0.012400047853589058, + 0.29778674244880676, + 0.009435834363102913, + -0.0017465775599703193, + 0.7912337779998779, + -0.0024898007977753878, + 0.001968485303223133, + 1.2054471969604492, + -0.0033860611729323864, + 0.041809890419244766, + 0.7526077032089233, + 0.0028694679494947195, + 0.0023525713477283716, + 1.1888357400894165, + 0.0012280658120289445, + 0.0021389699541032314, + 0.7681073546409607, + 1.256034255027771, + -0.45795172452926636, + -0.001945885014720261, + -0.002369149588048458, + -0.4963655173778534, + 0.0020489718299359083, + -0.0023259043227881193, + -0.6164270043373108 + ], + "wrist_pos": [ + 0.12968002259731293, + -0.16365836560726166, + 0.6940374374389648 + ], + "wrist_rot": [ + -0.6762343645095825, + 0.1965734362602234, + 0.6817877292633057, + 0.19806915521621704 + ], + "joint_positions": [ + 0.8748879432678223, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 112, + "virtual_xyz": [ + 0.1291811317205429, + -0.16593044996261597, + 0.6940373778343201 + ], + "wrist_rpy": [ + -1.5553624629974365, + -1.0137341022491455, + 1.5840498208999634 + ], + "finger_dofs": [ + 1.354942798614502, + -0.0022961038630455732, + 0.005428513046354055, + 1.5994718074798584, + 0.002001455519348383, + 4.202188938506879e-05, + 1.2011014223098755, + -0.00016546335245948285, + -0.0002381077647441998, + 0.7117642164230347, + 0.0028206577990204096, + 0.03501160442829132, + 0.45409053564071655, + -0.002496104221791029, + 0.002220848109573126, + 1.1764782667160034, + -0.002162501448765397, + 0.001882343553006649, + 0.6771954894065857, + 0.004154345020651817, + -0.012429313734173775, + 0.2979159951210022, + 0.009435188956558704, + -0.0017457951325923204, + 0.7912778854370117, + -0.0024899679701775312, + 0.0019682717975229025, + 1.205422282218933, + -0.0033850977197289467, + 0.041789427399635315, + 0.7526839375495911, + 0.002869349205866456, + 0.0023524253629148006, + 1.188845157623291, + 0.0012264108518138528, + 0.002138946671038866, + 0.7681305408477783, + 1.2560210227966309, + -0.45796746015548706, + -0.0019457696471363306, + -0.002369612455368042, + -0.496376097202301, + 0.002048871945589781, + -0.0023259050212800503, + -0.6164219379425049 + ], + "wrist_pos": [ + 0.12918120622634888, + -0.1659303903579712, + 0.6940373182296753 + ], + "wrist_rot": [ + -0.6770660281181335, + 0.19365344941616058, + 0.6826432347297668, + 0.19513586163520813 + ], + "joint_positions": [ + 0.8835040330886841, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 113, + "virtual_xyz": [ + 0.12870174646377563, + -0.1682066172361374, + 0.6940373182296753 + ], + "wrist_rpy": [ + -1.5550919771194458, + -1.0223461389541626, + 1.5843422412872314 + ], + "finger_dofs": [ + 1.3549574613571167, + -0.0022963955998420715, + 0.005406775511801243, + 1.5994594097137451, + 0.002001249697059393, + 4.439922122401185e-05, + 1.201116919517517, + -0.00016809772932901978, + -0.00024099380243569613, + 0.7117521166801453, + 0.0028205523267388344, + 0.035008035600185394, + 0.4541175365447998, + -0.0024947309866547585, + 0.002220636000856757, + 1.1764651536941528, + -0.0021627836395055056, + 0.001882340875454247, + 0.6770625114440918, + 0.004154707305133343, + -0.012453442439436913, + 0.2980540096759796, + 0.009432763792574406, + -0.0017442821990698576, + 0.7913231253623962, + -0.002489873208105564, + 0.0019680208060890436, + 1.205393671989441, + -0.0033861303236335516, + 0.04177103191614151, + 0.7527645230293274, + 0.002869386924430728, + 0.002352379262447357, + 1.1888556480407715, + 0.001224531326442957, + 0.002138890326023102, + 0.7681531310081482, + 1.2560079097747803, + -0.4579830765724182, + -0.0019456796580925584, + -0.002369882771745324, + -0.4963861405849457, + 0.002048828871920705, + -0.0023258773144334555, + -0.6164178252220154 + ], + "wrist_pos": [ + 0.1287018060684204, + -0.16820655763149261, + 0.6940372586250305 + ], + "wrist_rot": [ + -0.6778850555419922, + 0.1907302737236023, + 0.6834859251976013, + 0.19219970703125 + ], + "joint_positions": [ + 0.8921205401420593, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 114, + "virtual_xyz": [ + 0.12824442982673645, + -0.1704874485731125, + 0.694037675857544 + ], + "wrist_rpy": [ + -1.5548526048660278, + -1.03099524974823, + 1.5846028327941895 + ], + "finger_dofs": [ + 1.3549880981445312, + -0.0023171906359493732, + 0.005396833643317223, + 1.5994268655776978, + 0.0019869706593453884, + 5.275132571114227e-05, + 1.201139211654663, + -0.00016793404938653111, + -0.00024517151177860796, + 0.7117663621902466, + 0.002804782474413514, + 0.03501884266734123, + 0.45416608452796936, + -0.0025169174186885357, + 0.0022267887834459543, + 1.1764615774154663, + -0.002158233430236578, + 0.001881834352388978, + 0.6769728660583496, + 0.004131334368139505, + -0.012462698854506016, + 0.29827016592025757, + 0.00940721482038498, + -0.0017233428079634905, + 0.7913721799850464, + -0.002487898338586092, + 0.0019650703761726618, + 1.2042232751846313, + -0.0035656194668263197, + 0.04084116593003273, + 0.7532888650894165, + 0.0024706488475203514, + 0.0023994368966668844, + 1.1891396045684814, + 0.0013978051720187068, + 0.0021370076574385166, + 0.7680838704109192, + 1.2559528350830078, + -0.4578096270561218, + -0.001940194284543395, + -0.002363181672990322, + -0.49650925397872925, + 0.002044928027316928, + -0.002327305730432272, + -0.6163627505302429 + ], + "wrist_pos": [ + 0.12824448943138123, + -0.1704873889684677, + 0.6940376162528992 + ], + "wrist_rot": [ + -0.678702712059021, + 0.18779078125953674, + 0.6843117475509644, + 0.18924739956855774 + ], + "joint_positions": [ + 0.9007443189620972, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 115, + "virtual_xyz": [ + 0.12780292332172394, + -0.17277158796787262, + 0.6940371990203857 + ], + "wrist_rpy": [ + -1.5544579029083252, + -1.0395715236663818, + 1.5849480628967285 + ], + "finger_dofs": [ + 1.3548506498336792, + -0.0023617784027010202, + 0.00553411990404129, + 1.5993200540542603, + 0.0019580896478146315, + 4.379092206363566e-05, + 1.2011756896972656, + -0.00018534230184741318, + -0.00025219054077751935, + 0.7117050290107727, + 0.0028105522505939007, + 0.03503933176398277, + 0.4541855454444885, + -0.002504180185496807, + 0.0022201002575457096, + 1.1765087842941284, + -0.002160768723115325, + 0.0018826860468834639, + 0.6764190196990967, + 0.004126891493797302, + -0.012429931201040745, + 0.2986249327659607, + 0.009396994486451149, + -0.001724526402540505, + 0.79170161485672, + -0.0024875481612980366, + 0.001965781906619668, + 1.205121397972107, + -0.003131190314888954, + 0.04141326993703842, + 0.7528039216995239, + 0.0025086395908147097, + 0.0023701577447354794, + 1.1885448694229126, + 0.0013047558022662997, + 0.002138520125299692, + 0.7681339979171753, + 1.2560449838638306, + -0.4578830599784851, + -0.0019376209238544106, + -0.00236142729409039, + -0.49646231532096863, + 0.002044717315584421, + -0.002330322517082095, + -0.6163970828056335 + ], + "wrist_pos": [ + 0.1278029978275299, + -0.17277151346206665, + 0.694037139415741 + ], + "wrist_rot": [ + -0.6794797778129578, + 0.18484821915626526, + 0.6851391196250916, + 0.18634019792079926 + ], + "joint_positions": [ + 0.9093592762947083, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 116, + "virtual_xyz": [ + 0.1273801624774933, + -0.17505861818790436, + 0.6940369009971619 + ], + "wrist_rpy": [ + -1.5541738271713257, + -1.0481197834014893, + 1.585312843322754 + ], + "finger_dofs": [ + 1.3548723459243774, + -0.0023325306829065084, + 0.005503055639564991, + 1.599384069442749, + 0.0019793349783867598, + 1.6807684005470946e-05, + 1.201147198677063, + -0.00019588094437494874, + -0.0002471241168677807, + 0.7113521695137024, + 0.002792922779917717, + 0.03531092032790184, + 0.45493626594543457, + -0.002433300018310547, + 0.0022109546698629856, + 1.1762781143188477, + -0.0021741646341979504, + 0.0018835762748494744, + 0.6761826872825623, + 0.004160629119724035, + -0.012551301158964634, + 0.29893383383750916, + 0.009432307444512844, + -0.0017417363123968244, + 0.7916845679283142, + -0.0024913239758461714, + 0.001967318821698427, + 1.205182433128357, + -0.00339051173068583, + 0.041676104068756104, + 0.7534497976303101, + 0.0028637589421123266, + 0.0023555951192975044, + 1.188718318939209, + 0.001219489029608667, + 0.002139282412827015, + 0.768242597579956, + 1.256028652191162, + -0.4581350088119507, + -0.0019454588182270527, + -0.0023717244621366262, + -0.4963720738887787, + 0.00204876228235662, + -0.002326060552150011, + -0.6164418458938599 + ], + "wrist_pos": [ + 0.12738023698329926, + -0.1750585436820984, + 0.6940368413925171 + ], + "wrist_rot": [ + -0.6802521347999573, + 0.18195626139640808, + 0.6859410405158997, + 0.18339499831199646 + ], + "joint_positions": [ + 0.9179779887199402, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 117, + "virtual_xyz": [ + 0.1269785612821579, + -0.17734971642494202, + 0.6940367817878723 + ], + "wrist_rpy": [ + -1.5538606643676758, + -1.0567128658294678, + 1.5856596231460571 + ], + "finger_dofs": [ + 1.3549022674560547, + -0.002328844740986824, + 0.005452290177345276, + 1.599392294883728, + 0.0019813349936157465, + 1.4311584891402163e-05, + 1.2011561393737793, + -0.00019973462622147053, + -0.00024897907860577106, + 0.7112568020820618, + 0.002794946078211069, + 0.03532594069838524, + 0.4551110863685608, + -0.002435936825349927, + 0.0022118978668004274, + 1.1761504411697388, + -0.0021735085174441338, + 0.0018836602102965117, + 0.6759974360466003, + 0.004164102487266064, + -0.012618215754628181, + 0.2991097867488861, + 0.009434125386178493, + -0.0017410462023690343, + 0.7916833162307739, + -0.002491546794772148, + 0.001967087620869279, + 1.2050294876098633, + -0.0033781989477574825, + 0.04166816920042038, + 0.7536727786064148, + 0.002873525256291032, + 0.0023501701653003693, + 1.1887784004211426, + 0.0012027296470478177, + 0.0021394179202616215, + 0.7682974934577942, + 1.2560195922851562, + -0.45822808146476746, + -0.0019453703425824642, + -0.0023729547392576933, + -0.4963530898094177, + 0.0020487848669290543, + -0.002326295478269458, + -0.6164412498474121 + ], + "wrist_pos": [ + 0.12697863578796387, + -0.17734965682029724, + 0.6940367221832275 + ], + "wrist_rot": [ + -0.6810172200202942, + 0.17902980744838715, + 0.6867333054542542, + 0.18044714629650116 + ], + "joint_positions": [ + 0.9265968799591064, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 118, + "virtual_xyz": [ + 0.12659692764282227, + -0.1796443909406662, + 0.6940366625785828 + ], + "wrist_rpy": [ + -1.553520917892456, + -1.065319538116455, + 1.5860135555267334 + ], + "finger_dofs": [ + 1.3548915386199951, + -0.002314615761861205, + 0.0054415008053183556, + 1.5993679761886597, + 0.0019786092452704906, + 2.6127556338906288e-05, + 1.201175570487976, + -0.000196959386812523, + -0.0002523449657019228, + 0.7112399935722351, + 0.0027956829871982336, + 0.03531186655163765, + 0.45516636967658997, + -0.0024340839590877295, + 0.002212202176451683, + 1.1761283874511719, + -0.0021743460092693567, + 0.0018833668436855078, + 0.6758046746253967, + 0.004161626100540161, + -0.01264595054090023, + 0.29932186007499695, + 0.009431094862520695, + -0.0017390201101079583, + 0.7917460203170776, + -0.002491723047569394, + 0.0019669560715556145, + 1.204990267753601, + -0.003376783337444067, + 0.041654281318187714, + 0.7537881731987, + 0.0028751345816999674, + 0.002350134076550603, + 1.1887922286987305, + 0.0011920706601813436, + 0.0021394030191004276, + 0.7683472633361816, + 1.2560194730758667, + -0.45825615525245667, + -0.0019454046851024032, + -0.0023733859416097403, + -0.49637216329574585, + 0.0020488123409450054, + -0.0023260186426341534, + -0.6164337396621704 + ], + "wrist_pos": [ + 0.12659701704978943, + -0.17964433133602142, + 0.694036602973938 + ], + "wrist_rot": [ + -0.6817699074745178, + 0.17608875036239624, + 0.6875149607658386, + 0.17749792337417603 + ], + "joint_positions": [ + 0.9352180361747742, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 119, + "virtual_xyz": [ + 0.1262379288673401, + -0.18194301426410675, + 0.694037139415741 + ], + "wrist_rpy": [ + -1.553282618522644, + -1.0739927291870117, + 1.5863053798675537 + ], + "finger_dofs": [ + 1.3548641204833984, + -0.0023515031207352877, + 0.005373488180339336, + 1.5993739366531372, + 0.0019614361226558685, + 2.6559418984106742e-05, + 1.2011868953704834, + -0.0001998878869926557, + -0.0002544510061852634, + 0.7112398147583008, + 0.0027704662643373013, + 0.03523089364171028, + 0.4550818204879761, + -0.002482948824763298, + 0.00222641765139997, + 1.176297903060913, + -0.0021627708338201046, + 0.0018829451873898506, + 0.676038920879364, + 0.004142794758081436, + -0.012677636928856373, + 0.2992384135723114, + 0.00940075982362032, + -0.001718341838568449, + 0.7915374636650085, + -0.002489049220457673, + 0.0019636882934719324, + 1.203992247581482, + -0.003495856188237667, + 0.04063219577074051, + 0.7538720965385437, + 0.0025006572250276804, + 0.002381698926910758, + 1.1890125274658203, + 0.0013692404609173536, + 0.0021366497967392206, + 0.7682707905769348, + 1.2559013366699219, + -0.45806756615638733, + -0.0019389736698940396, + -0.0023672531824558973, + -0.49646592140197754, + 0.002044582972303033, + -0.002328107599169016, + -0.6163643598556519 + ], + "wrist_pos": [ + 0.12623800337314606, + -0.18194296956062317, + 0.6940370798110962 + ], + "wrist_rot": [ + -0.6825324892997742, + 0.17313522100448608, + 0.6882731914520264, + 0.17450928688049316 + ], + "joint_positions": [ + 0.9438392519950867, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 120, + "virtual_xyz": [ + 0.12589412927627563, + -0.18424387276172638, + 0.6940364837646484 + ], + "wrist_rpy": [ + -1.5528082847595215, + -1.082532525062561, + 1.5867221355438232 + ], + "finger_dofs": [ + 1.3549339771270752, + -0.0023451780434697866, + 0.0054272860288619995, + 1.5993081331253052, + 0.001971054822206497, + 3.633034066297114e-05, + 1.201225996017456, + -0.00020411526202224195, + -0.00026176258688792586, + 0.7111291289329529, + 0.0027852063067257404, + 0.03531035780906677, + 0.45518308877944946, + -0.0024515397381037474, + 0.002214844571426511, + 1.1762199401855469, + -0.0021704453974962234, + 0.001883327029645443, + 0.6752753257751465, + 0.004139293916523457, + -0.012644840404391289, + 0.2997364103794098, + 0.009396138601005077, + -0.0017194204265251756, + 0.7919207811355591, + -0.002489356556907296, + 0.001964305993169546, + 1.2046743631362915, + -0.003129322547465563, + 0.04128210246562958, + 0.7537107467651367, + 0.002510993042960763, + 0.00237042224034667, + 1.1884543895721436, + 0.0012695851037278771, + 0.0021382966078817844, + 0.7682790160179138, + 1.2560046911239624, + -0.45818838477134705, + -0.0019371302332729101, + -0.0023659218568354845, + -0.4963622987270355, + 0.0020448474679142237, + -0.002330901799723506, + -0.6164242625236511 + ], + "wrist_pos": [ + 0.1258942037820816, + -0.1842438131570816, + 0.6940364241600037 + ], + "wrist_rot": [ + -0.6832407712936401, + 0.17018567025661469, + 0.689037024974823, + 0.1716008186340332 + ], + "joint_positions": [ + 0.9524502754211426, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 121, + "virtual_xyz": [ + 0.12557007372379303, + -0.18654733896255493, + 0.6940364837646484 + ], + "wrist_rpy": [ + -1.5524563789367676, + -1.0911308526992798, + 1.5871237516403198 + ], + "finger_dofs": [ + 1.3549299240112305, + -0.002329878509044647, + 0.005397510714828968, + 1.599325180053711, + 0.0019782530143857002, + 2.6006107873399742e-05, + 1.2012220621109009, + -0.00021006306633353233, + -0.00026107876328751445, + 0.7111377716064453, + 0.002792297163978219, + 0.03533489257097244, + 0.4552765190601349, + -0.0024304003454744816, + 0.002210996812209487, + 1.1761221885681152, + -0.0021748379804193974, + 0.0018835734808817506, + 0.6752775311470032, + 0.004165192134678364, + -0.01267318893224001, + 0.2998200058937073, + 0.009425189346075058, + -0.00173641846049577, + 0.7918513417243958, + -0.002491697669029236, + 0.0019660734105855227, + 1.2048861980438232, + -0.003395695937797427, + 0.04159673675894737, + 0.7540438771247864, + 0.0028649482410401106, + 0.0023555022198706865, + 1.188673496246338, + 0.0011946468148380518, + 0.002139108022674918, + 0.7683556079864502, + 1.2559865713119507, + -0.4582749903202057, + -0.001945090014487505, + -0.0023743649944663048, + -0.49634116888046265, + 0.002048562513664365, + -0.002326437970623374, + -0.6164356470108032 + ], + "wrist_pos": [ + 0.125570148229599, + -0.18654727935791016, + 0.6940364241600037 + ], + "wrist_rot": [ + -0.6839560270309448, + 0.16724970936775208, + 0.689778745174408, + 0.16863244771957397 + ], + "joint_positions": [ + 0.9610711336135864, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 122, + "virtual_xyz": [ + 0.12526719272136688, + -0.18885384500026703, + 0.6940363645553589 + ], + "wrist_rpy": [ + -1.5520871877670288, + -1.0997401475906372, + 1.5875229835510254 + ], + "finger_dofs": [ + 1.3548989295959473, + -0.0023154132068157196, + 0.005365195218473673, + 1.5993140935897827, + 0.0019758285488933325, + 3.592257053242065e-05, + 1.201233983039856, + -0.0002063464926322922, + -0.0002630508679430932, + 0.7111446857452393, + 0.0027937120757997036, + 0.03531615808606148, + 0.4552878737449646, + -0.0024321062956005335, + 0.0022122985683381557, + 1.1760749816894531, + -0.0021748333238065243, + 0.0018832311034202576, + 0.6752185225486755, + 0.004164882004261017, + -0.012724329717457294, + 0.29988202452659607, + 0.009422563947737217, + -0.001735442434437573, + 0.791821300983429, + -0.002491754014045, + 0.00196594069711864, + 1.204805850982666, + -0.003385739168152213, + 0.04157920926809311, + 0.7540561556816101, + 0.0028706369921565056, + 0.0023512865882366896, + 1.1887648105621338, + 0.001187388552352786, + 0.0021389960311353207, + 0.7684163451194763, + 1.2559576034545898, + -0.45832231640815735, + -0.001945069874636829, + -0.002374875359237194, + -0.49634233117103577, + 0.002048735972493887, + -0.0023263469338417053, + -0.6164290904998779 + ], + "wrist_pos": [ + 0.12526726722717285, + -0.18885380029678345, + 0.6940363049507141 + ], + "wrist_rot": [ + -0.6846605539321899, + 0.16430062055587769, + 0.6905074715614319, + 0.16566376388072968 + ], + "joint_positions": [ + 0.969693660736084, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 123, + "virtual_xyz": [ + 0.1249840259552002, + -0.19116294384002686, + 0.6940361857414246 + ], + "wrist_rpy": [ + -1.5517008304595947, + -1.1083401441574097, + 1.587929606437683 + ], + "finger_dofs": [ + 1.3549069166183472, + -0.002332301577553153, + 0.005331851541996002, + 1.5993075370788574, + 0.001976543106138706, + 3.122893031104468e-05, + 1.2012470960617065, + -0.00021302732056938112, + -0.00026563971186988056, + 0.7111145853996277, + 0.002791074803099036, + 0.035312920808792114, + 0.45533233880996704, + -0.0024329579900950193, + 0.002211585408076644, + 1.1760627031326294, + -0.0021744228433817625, + 0.0018834215588867664, + 0.6750683784484863, + 0.004167518578469753, + -0.012739582918584347, + 0.3000321388244629, + 0.009419071488082409, + -0.0017349545378237963, + 0.791846513748169, + -0.0024914410896599293, + 0.0019656054209917784, + 1.2047585248947144, + -0.0033873599022626877, + 0.0415719635784626, + 0.7541400194168091, + 0.0028705638833343983, + 0.002351350151002407, + 1.1887890100479126, + 0.0011823602253571153, + 0.002138815587386489, + 0.7684251070022583, + 1.255932092666626, + -0.4583413004875183, + -0.0019448839593678713, + -0.0023751931730657816, + -0.49632444977760315, + 0.0020485087297856808, + -0.002326457528397441, + -0.6164305210113525 + ], + "wrist_pos": [ + 0.12498410046100616, + -0.19116288423538208, + 0.6940361261367798 + ], + "wrist_rot": [ + -0.6853519678115845, + 0.16134800016880035, + 0.6912225484848022, + 0.16269874572753906 + ], + "joint_positions": [ + 0.9783145785331726, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 124, + "virtual_xyz": [ + 0.12472080439329147, + -0.1934742033481598, + 0.6940359473228455 + ], + "wrist_rpy": [ + -1.551287293434143, + -1.116948127746582, + 1.588361144065857 + ], + "finger_dofs": [ + 1.3548452854156494, + -0.002290238393470645, + 0.005300106480717659, + 1.5992909669876099, + 0.0019888929091393948, + 4.42528908024542e-05, + 1.201263427734375, + -0.00020860375661868602, + -0.00026840268401429057, + 0.7110452055931091, + 0.0027939716819673777, + 0.035315267741680145, + 0.45508018136024475, + -0.0024277283810079098, + 0.00221389252692461, + 1.1760191917419434, + -0.0021783870179206133, + 0.0018835506634786725, + 0.6749557852745056, + 0.004167245235294104, + -0.012776659801602364, + 0.30013716220855713, + 0.009417441673576832, + -0.0017319394974038005, + 0.7918554544448853, + -0.0024918329436331987, + 0.0019654359202831984, + 1.2047098875045776, + -0.0033881734125316143, + 0.04155409336090088, + 0.7540935277938843, + 0.0028651247266680002, + 0.002354299183934927, + 1.188785433769226, + 0.001180144608952105, + 0.0021391622722148895, + 0.7684633135795593, + 1.2559194564819336, + -0.45835986733436584, + -0.0019452228443697095, + -0.0023762208875268698, + -0.4963299334049225, + 0.0020485417917370796, + -0.002326598856598139, + -0.6164233088493347 + ], + "wrist_pos": [ + 0.12472087144851685, + -0.19347414374351501, + 0.6940358877182007 + ], + "wrist_rot": [ + -0.6860294342041016, + 0.15838901698589325, + 0.6919271349906921, + 0.1597287505865097 + ], + "joint_positions": [ + 0.9869364500045776, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 125, + "virtual_xyz": [ + 0.12447986006736755, + -0.19578814506530762, + 0.6940364241600037 + ], + "wrist_rpy": [ + -1.550916075706482, + -1.1255849599838257, + 1.5887486934661865 + ], + "finger_dofs": [ + 1.354860544204712, + -0.0023307811934500933, + 0.005281791090965271, + 1.599266767501831, + 0.00197155331261456, + 4.489481943892315e-05, + 1.2012823820114136, + -0.00021274553728289902, + -0.00027205387596040964, + 0.7110485434532166, + 0.0027744758408516645, + 0.035330403596162796, + 0.4551202654838562, + -0.0024543001782149076, + 0.002220206195488572, + 1.1760212182998657, + -0.002172750188037753, + 0.001883158111013472, + 0.6748490929603577, + 0.004143205005675554, + -0.01276964507997036, + 0.3003641664981842, + 0.009387850761413574, + -0.0017060738755390048, + 0.7918722629547119, + -0.002489494625478983, + 0.0019624654669314623, + 1.20352303981781, + -0.0035729720257222652, + 0.04063621163368225, + 0.7546108365058899, + 0.002468690276145935, + 0.0024010364431887865, + 1.1890649795532227, + 0.0013528380077332258, + 0.0021370993927121162, + 0.7683717608451843, + 1.2558507919311523, + -0.45818421244621277, + -0.0019401205936446786, + -0.002368687419220805, + -0.4964179992675781, + 0.0020446127746254206, + -0.0023280640598386526, + -0.6163744926452637 + ], + "wrist_pos": [ + 0.12447993457317352, + -0.19578808546066284, + 0.6940363645553589 + ], + "wrist_rot": [ + -0.686706006526947, + 0.15541662275791168, + 0.6926116943359375, + 0.1567462682723999 + ], + "joint_positions": [ + 0.9955634474754333, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 126, + "virtual_xyz": [ + 0.12425193190574646, + -0.19810518622398376, + 0.6940339803695679 + ], + "wrist_rpy": [ + -1.5502244234085083, + -1.1340261697769165, + 1.5892711877822876 + ], + "finger_dofs": [ + 1.3549412488937378, + -0.0024150959216058254, + 0.005368737503886223, + 1.599170207977295, + 0.0019078166224062443, + 7.497902697650716e-05, + 1.2013527154922485, + -0.00021253898739814758, + -0.0002846814750228077, + 0.7108596563339233, + 0.0027486879844218493, + 0.035375721752643585, + 0.4553661644458771, + -0.0024994320701807737, + 0.0022227265872061253, + 1.1761598587036133, + -0.002161082113161683, + 0.0018829941982403398, + 0.6736273765563965, + 0.004124320112168789, + -0.012718182057142258, + 0.3006802797317505, + 0.009320643730461597, + -0.0016265271697193384, + 0.7923110127449036, + -0.0024859828408807516, + 0.0019559876527637243, + 1.207136869430542, + -0.0026268663350492716, + 0.04120413586497307, + 0.7546336054801941, + 0.002728234278038144, + 0.00228000502102077, + 1.188476324081421, + 0.0011280837934464216, + 0.0021363624837249517, + 0.7681502103805542, + 1.256057620048523, + -0.458291620016098, + -0.001955396728590131, + -0.0023642084561288357, + -0.4960993528366089, + 0.002049061469733715, + -0.002324344590306282, + -0.6165237426757812 + ], + "wrist_pos": [ + 0.12425200641155243, + -0.198105126619339, + 0.6940339207649231 + ], + "wrist_rot": [ + -0.6873208284378052, + 0.15244406461715698, + 0.69330233335495, + 0.15389180183410645 + ], + "joint_positions": [ + 1.0041567087173462, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 127, + "virtual_xyz": [ + 0.1240505650639534, + -0.20042107999324799, + 0.6940360069274902 + ], + "wrist_rpy": [ + -1.549844741821289, + -1.1427265405654907, + 1.5898008346557617 + ], + "finger_dofs": [ + 1.3548989295959473, + -0.002333764685317874, + 0.005278460681438446, + 1.599238634109497, + 0.001958949724212289, + 6.061810199753381e-05, + 1.2013150453567505, + -0.00021137528528925031, + -0.00027767184656113386, + 0.710902750492096, + 0.002787930890917778, + 0.03538496419787407, + 0.45547744631767273, + -0.002432422013953328, + 0.0022137241903692484, + 1.1760227680206299, + -0.0021747194696217775, + 0.0018828067695721984, + 0.6740745306015015, + 0.00415077805519104, + -0.01279538031667471, + 0.3007773458957672, + 0.009393785148859024, + -0.0017109778709709644, + 0.7921950817108154, + -0.0024901647120714188, + 0.0019630088936537504, + 1.2041758298873901, + -0.003209200920537114, + 0.041042182594537735, + 0.7543779611587524, + 0.002509561600163579, + 0.002383126877248287, + 1.188969612121582, + 0.0012811205815523863, + 0.0021380868274718523, + 0.7684497833251953, + 1.2559535503387451, + -0.45842793583869934, + -0.0019363915780559182, + -0.0023706434294581413, + -0.4962121546268463, + 0.0020448947325348854, + -0.002331651048734784, + -0.6164445281028748 + ], + "wrist_pos": [ + 0.12405063211917877, + -0.2004210203886032, + 0.6940359473228455 + ], + "wrist_rot": [ + -0.6879711151123047, + 0.1494901180267334, + 0.6939719319343567, + 0.15083548426628113 + ], + "joint_positions": [ + 1.0127894878387451, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 128, + "virtual_xyz": [ + 0.12386535853147507, + -0.20273999869823456, + 0.6940357685089111 + ], + "wrist_rpy": [ + -1.5494087934494019, + -1.151335597038269, + 1.590275526046753 + ], + "finger_dofs": [ + 1.3548109531402588, + -0.002309946808964014, + 0.005249174777418375, + 1.599226474761963, + 0.0019866132643073797, + 5.052212145528756e-05, + 1.2013235092163086, + -0.00022107579570729285, + -0.00027932654484175146, + 0.7108721733093262, + 0.0027907108888030052, + 0.03534381464123726, + 0.4552226662635803, + -0.0024264678359031677, + 0.0022128622513264418, + 1.1760011911392212, + -0.0021787560544908047, + 0.0018835923401638865, + 0.6741523742675781, + 0.004173121880739927, + -0.012780650518834591, + 0.30078718066215515, + 0.00941524188965559, + -0.0017278965096920729, + 0.7920486927032471, + -0.002491890685632825, + 0.001964347204193473, + 1.2045098543167114, + -0.0033933701924979687, + 0.04146295785903931, + 0.7545116543769836, + 0.0028596934862434864, + 0.0023578833788633347, + 1.1887608766555786, + 0.0011866363929584622, + 0.0021388123277574778, + 0.7684535980224609, + 1.2558865547180176, + -0.4584251642227173, + -0.0019447749946266413, + -0.0023779794573783875, + -0.496189683675766, + 0.0020484160631895065, + -0.0023275292478501797, + -0.6164394021034241 + ], + "wrist_pos": [ + 0.12386542558670044, + -0.20273993909358978, + 0.6940357089042664 + ], + "wrist_rot": [ + -0.6886036992073059, + 0.14652633666992188, + 0.6946195960044861, + 0.14784634113311768 + ], + "joint_positions": [ + 1.0214112997055054, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 129, + "virtual_xyz": [ + 0.12370116263628006, + -0.20506057143211365, + 0.6940357685089111 + ], + "wrist_rpy": [ + -1.5489393472671509, + -1.159942388534546, + 1.5907827615737915 + ], + "finger_dofs": [ + 1.3547741174697876, + -0.0022914756555110216, + 0.005224146880209446, + 1.5992158651351929, + 0.0019860798493027687, + 5.924499055254273e-05, + 1.2013336420059204, + -0.0002179447328671813, + -0.00028091989224776626, + 0.7108823657035828, + 0.002791469683870673, + 0.03531748056411743, + 0.45518067479133606, + -0.002431093482300639, + 0.002214784501120448, + 1.175981044769287, + -0.002178037306293845, + 0.0018832628848031163, + 0.674157977104187, + 0.004172794055193663, + -0.012823319993913174, + 0.3007925748825073, + 0.009415535256266594, + -0.00172713166102767, + 0.7919290065765381, + -0.0024921507574617863, + 0.00196421192958951, + 1.2044360637664795, + -0.0033840250689536333, + 0.041454821825027466, + 0.7544691562652588, + 0.0028643852565437555, + 0.0023538500536233187, + 1.1888295412063599, + 0.001176867401227355, + 0.002138640498742461, + 0.7684813141822815, + 1.2558318376541138, + -0.4584636092185974, + -0.0019447169033810496, + -0.0023787296377122402, + -0.4961583912372589, + 0.002048574620857835, + -0.0023275616113096476, + -0.6164357662200928 + ], + "wrist_pos": [ + 0.12370122969150543, + -0.20506051182746887, + 0.6940357089042664 + ], + "wrist_rot": [ + -0.6892212629318237, + 0.14356040954589844, + 0.6952563524246216, + 0.144855335354805 + ], + "joint_positions": [ + 1.0300321578979492, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 130, + "virtual_xyz": [ + 0.12355663627386093, + -0.20738250017166138, + 0.6940357089042664 + ], + "wrist_rpy": [ + -1.5484340190887451, + -1.1685360670089722, + 1.5913116931915283 + ], + "finger_dofs": [ + 1.3547621965408325, + -0.0023097959347069263, + 0.005191365722566843, + 1.5992103815078735, + 0.0019850011449307203, + 5.3917399782221764e-05, + 1.201344609260559, + -0.00022455140424426645, + -0.0002830284065566957, + 0.7108383774757385, + 0.0027889935299754143, + 0.03531130775809288, + 0.45519477128982544, + -0.002433792222291231, + 0.0022145742550492287, + 1.1759788990020752, + -0.002177230315282941, + 0.001883443328551948, + 0.6740471124649048, + 0.00417607044801116, + -0.012829874642193317, + 0.30087465047836304, + 0.009414595551788807, + -0.0017276472644880414, + 0.7918825745582581, + -0.0024918396957218647, + 0.0019639073871076107, + 1.2043732404708862, + -0.003384363604709506, + 0.041446246206760406, + 0.7545101642608643, + 0.002864264650270343, + 0.0023536616936326027, + 1.188839077949524, + 0.0011697408044710755, + 0.0021384325809776783, + 0.7684651613235474, + 1.2557908296585083, + -0.45848360657691956, + -0.0019446146907284856, + -0.002379108453169465, + -0.49610477685928345, + 0.0020484719425439835, + -0.002327975584194064, + -0.6164411306381226 + ], + "wrist_pos": [ + 0.1235567182302475, + -0.2073824405670166, + 0.6940356492996216 + ], + "wrist_rot": [ + -0.6898238062858582, + 0.14059144258499146, + 0.6958804726600647, + 0.14187118411064148 + ], + "joint_positions": [ + 1.0386508703231812, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 131, + "virtual_xyz": [ + 0.12343505024909973, + -0.20970579981803894, + 0.6940361261367798 + ], + "wrist_rpy": [ + -1.547937035560608, + -1.1771742105484009, + 1.5918179750442505 + ], + "finger_dofs": [ + 1.354754090309143, + -0.0023132062051445246, + 0.005204305052757263, + 1.599165439605713, + 0.0019673150964081287, + 7.272063521668315e-05, + 1.2013671398162842, + -0.00021741201635450125, + -0.0002868756710086018, + 0.7108460664749146, + 0.002774570370092988, + 0.035311389714479446, + 0.45521143078804016, + -0.0024616036098450422, + 0.0022225165739655495, + 1.1759977340698242, + -0.002172051230445504, + 0.0018825610168278217, + 0.673950731754303, + 0.0041482518427073956, + -0.012822357937693596, + 0.3010718822479248, + 0.009384404867887497, + -0.0016981918597593904, + 0.7918838858604431, + -0.0024899588897824287, + 0.0019611206371337175, + 1.2032890319824219, + -0.003523986553773284, + 0.04046550765633583, + 0.7547476887702942, + 0.00251176580786705, + 0.0023970212787389755, + 1.1889078617095947, + 0.001332846819423139, + 0.00213642418384552, + 0.7683744430541992, + 1.2557263374328613, + -0.45829570293426514, + -0.001939855283126235, + -0.00237198150716722, + -0.49619436264038086, + 0.002044739667326212, + -0.0023293623235076666, + -0.6163897514343262 + ], + "wrist_pos": [ + 0.1234351247549057, + -0.20970574021339417, + 0.694036066532135 + ], + "wrist_rot": [ + -0.6904223561286926, + 0.13759930431842804, + 0.6964893341064453, + 0.13887368142604828 + ], + "joint_positions": [ + 1.0472787618637085, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 132, + "virtual_xyz": [ + 0.12333056330680847, + -0.2120300978422165, + 0.694036066532135 + ], + "wrist_rpy": [ + -1.547331690788269, + -1.1857624053955078, + 1.5924053192138672 + ], + "finger_dofs": [ + 1.3547526597976685, + -0.0023361535277217627, + 0.005236270371824503, + 1.5991250276565552, + 0.0019656068179756403, + 7.044829544611275e-05, + 1.2013874053955078, + -0.0002248664532089606, + -0.000290737661998719, + 0.7107957601547241, + 0.002770164981484413, + 0.03532572463154793, + 0.4552454650402069, + -0.0024623426143079996, + 0.0022209882736206055, + 1.1760611534118652, + -0.0021720388904213905, + 0.0018826887244358659, + 0.6736222505569458, + 0.0041471440345048904, + -0.012756512500345707, + 0.30136123299598694, + 0.009378147311508656, + -0.001696125022135675, + 0.7920286655426025, + -0.0024896326940506697, + 0.0019607553258538246, + 1.2031954526901245, + -0.003538702381774783, + 0.040487922728061676, + 0.7549899816513062, + 0.0025079308543354273, + 0.0024017086252570152, + 1.1887845993041992, + 0.0013724386226385832, + 0.002136281691491604, + 0.7683128714561462, + 1.2557299137115479, + -0.4582379162311554, + -0.0019400680903345346, + -0.0023713167756795883, + -0.4961656630039215, + 0.0020446248818188906, + -0.0023293267004191875, + -0.6164013147354126 + ], + "wrist_pos": [ + 0.12333063781261444, + -0.21203003823757172, + 0.6940360069274902 + ], + "wrist_rot": [ + -0.690994381904602, + 0.13461241126060486, + 0.6970919370651245, + 0.1359003335237503 + ], + "joint_positions": [ + 1.0559008121490479, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 133, + "virtual_xyz": [ + 0.12324187904596329, + -0.21435610949993134, + 0.6940334439277649 + ], + "wrist_rpy": [ + -1.5464733839035034, + -1.1942031383514404, + 1.5931164026260376 + ], + "finger_dofs": [ + 1.3547561168670654, + -0.002400423167273402, + 0.005268416833132505, + 1.599064826965332, + 0.0019087824039161205, + 9.648207924328744e-05, + 1.2014390230178833, + -0.0002213799161836505, + -0.00029988467576913536, + 0.7105589509010315, + 0.0027392469346523285, + 0.035401441156864166, + 0.4552270770072937, + -0.0025099769700318575, + 0.0022276141680777073, + 1.1761183738708496, + -0.0021619631443172693, + 0.0018828859319910407, + 0.6725596785545349, + 0.004126542713493109, + -0.012752535752952099, + 0.30153027176856995, + 0.00931142270565033, + -0.0016143101966008544, + 0.7923409938812256, + -0.002485493663698435, + 0.0019548574928194284, + 1.206668734550476, + -0.0026443777605891228, + 0.041125643998384476, + 0.755001962184906, + 0.0027256961911916733, + 0.0022834332194179296, + 1.1884560585021973, + 0.0011243547778576612, + 0.002135979477316141, + 0.7680763006210327, + 1.25592839717865, + -0.458530068397522, + -0.0019562402740120888, + -0.0023896063212305307, + -0.4954812824726105, + 0.0020623384043574333, + -0.0023539832327514887, + -0.616546094417572 + ], + "wrist_pos": [ + 0.12324195355176926, + -0.21435604989528656, + 0.6940333843231201 + ], + "wrist_rot": [ + -0.6915212869644165, + 0.13162890076637268, + 0.6976944804191589, + 0.1330200433731079 + ], + "joint_positions": [ + 1.0644961595535278, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 134, + "virtual_xyz": [ + 0.12317950278520584, + -0.21667999029159546, + 0.6940354704856873 + ], + "wrist_rpy": [ + -1.5459212064743042, + -1.202898621559143, + 1.5938208103179932 + ], + "finger_dofs": [ + 1.354683518409729, + -0.0023109372705221176, + 0.0051805851981043816, + 1.5991244316101074, + 0.001966707641258836, + 7.972267485456541e-05, + 1.2014033794403076, + -0.00022253114730119705, + -0.0002933091309387237, + 0.7106094360351562, + 0.002782293362542987, + 0.035401664674282074, + 0.45529600977897644, + -0.002437525661662221, + 0.0022178194485604763, + 1.175995111465454, + -0.00217675743624568, + 0.001882670447230339, + 0.6730301380157471, + 0.004160698037594557, + -0.01283592265099287, + 0.3015955686569214, + 0.00938880443572998, + -0.0017017475329339504, + 0.7921814322471619, + -0.002490521175786853, + 0.0019611434545367956, + 1.203716516494751, + -0.003220007289201021, + 0.04097352549433708, + 0.7547228932380676, + 0.002506028627976775, + 0.0023866172414273024, + 1.188942551612854, + 0.0012654816964641213, + 0.0021373755298554897, + 0.7683278322219849, + 1.2558215856552124, + -0.4586047828197479, + -0.0019349218346178532, + -0.0024008590262383223, + -0.49562495946884155, + 0.0020577821414917707, + -0.00236178794875741, + -0.6164689064025879 + ], + "wrist_pos": [ + 0.12317958474159241, + -0.21667993068695068, + 0.6940354108810425 + ], + "wrist_rot": [ + -0.692079484462738, + 0.1286589801311493, + 0.6982742547988892, + 0.12994559109210968 + ], + "joint_positions": [ + 1.0731287002563477, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 135, + "virtual_xyz": [ + 0.12313327938318253, + -0.21900589764118195, + 0.6940353512763977 + ], + "wrist_rpy": [ + -1.5453144311904907, + -1.211495041847229, + 1.5944736003875732 + ], + "finger_dofs": [ + 1.354634165763855, + -0.0023155217058956623, + 0.005150959361344576, + 1.5991240739822388, + 0.001976757077500224, + 6.807023601140827e-05, + 1.2014071941375732, + -0.0002321811771253124, + -0.0002940086997114122, + 0.7106115221977234, + 0.0027825983706861734, + 0.03534636273980141, + 0.4553164839744568, + -0.002437362913042307, + 0.002215855522081256, + 1.1759816408157349, + -0.002176992129534483, + 0.0018830348271876574, + 0.6731095314025879, + 0.0041824388317763805, + -0.01282263919711113, + 0.30158382654190063, + 0.009412901476025581, + -0.0017220305744558573, + 0.7919812202453613, + -0.002492219442501664, + 0.001962486421689391, + 1.204056978225708, + -0.003401615424081683, + 0.0413796566426754, + 0.7549397945404053, + 0.0028599367942661047, + 0.002358595374971628, + 1.1887340545654297, + 0.0011611829977482557, + 0.002137665404006839, + 0.768319308757782, + 1.2557281255722046, + -0.45863357186317444, + -0.0019428092055022717, + -0.0024083303287625313, + -0.49555259943008423, + 0.002061916748061776, + -0.0023587187752127647, + -0.6164755821228027 + ], + "wrist_pos": [ + 0.12313336133956909, + -0.21900582313537598, + 0.6940352916717529 + ], + "wrist_rot": [ + -0.6926210522651672, + 0.12568427622318268, + 0.6988317370414734, + 0.1269398033618927 + ], + "joint_positions": [ + 1.0817488431930542, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 136, + "virtual_xyz": [ + 0.12310817092657089, + -0.22133198380470276, + 0.6940352916717529 + ], + "wrist_rpy": [ + -1.5446559190750122, + -1.2200912237167358, + 1.595172643661499 + ], + "finger_dofs": [ + 1.3545900583267212, + -0.002294163452461362, + 0.005115021485835314, + 1.5991196632385254, + 0.0019763584714382887, + 7.82362767495215e-05, + 1.2014144659042358, + -0.00022710944176651537, + -0.0002949238405562937, + 0.7105931043624878, + 0.0027841252740472555, + 0.035317011177539825, + 0.4552956223487854, + -0.002442446770146489, + 0.002218095352873206, + 1.1759536266326904, + -0.002176143927499652, + 0.0018827251624315977, + 0.6731275916099548, + 0.004183728247880936, + -0.012871523387730122, + 0.30155807733535767, + 0.009414912201464176, + -0.0017212688690051436, + 0.7918115258216858, + -0.0024925125762820244, + 0.0019623329862952232, + 1.203960657119751, + -0.0033923902083188295, + 0.04136846959590912, + 0.754896879196167, + 0.00286469585262239, + 0.002354806289076805, + 1.1887774467468262, + 0.0011455862550064921, + 0.002137494971975684, + 0.7683367133140564, + 1.255654215812683, + -0.4586886167526245, + -0.0019426984945312142, + -0.0024097899440675974, + -0.4954867660999298, + 0.0020621460862457752, + -0.0023591381032019854, + -0.6164760589599609 + ], + "wrist_pos": [ + 0.12310823798179626, + -0.2213319092988968, + 0.6940352320671082 + ], + "wrist_rot": [ + -0.6931475400924683, + 0.12270509451627731, + 0.6993785500526428, + 0.12393350154161453 + ], + "joint_positions": [ + 1.0903687477111816, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 137, + "virtual_xyz": [ + 0.1231059581041336, + -0.22365854680538177, + 0.6940355896949768 + ], + "wrist_rpy": [ + -1.5439982414245605, + -1.2287180423736572, + 1.5958402156829834 + ], + "finger_dofs": [ + 1.354582667350769, + -0.002336486941203475, + 0.005102579947561026, + 1.5990915298461914, + 0.0019578372593969107, + 7.971790910232812e-05, + 1.2014312744140625, + -0.0002299149491591379, + -0.00029804214136675, + 0.7105676531791687, + 0.002765477169305086, + 0.035323575139045715, + 0.45532649755477905, + -0.0024727622512727976, + 0.002224783645942807, + 1.1759763956069946, + -0.002169831423088908, + 0.0018823363352566957, + 0.673032820224762, + 0.004160769283771515, + -0.012844670563936234, + 0.3017367422580719, + 0.00938830804079771, + -0.0016965686809271574, + 0.7917724847793579, + -0.0024900706484913826, + 0.0019596670754253864, + 1.2028415203094482, + -0.003531835274770856, + 0.040403202176094055, + 0.7551390528678894, + 0.0025116780307143927, + 0.002397567266598344, + 1.1888506412506104, + 0.0013059398625046015, + 0.0021354530472308397, + 0.7682039141654968, + 1.2555662393569946, + -0.45849302411079407, + -0.0019380502635613084, + -0.0024019007105380297, + -0.4955402910709381, + 0.002058017300441861, + -0.0023606219328939915, + -0.616429328918457 + ], + "wrist_pos": [ + 0.12310603260993958, + -0.2236584722995758, + 0.694035530090332 + ], + "wrist_rot": [ + -0.6936692595481873, + 0.11970262229442596, + 0.6999080181121826, + 0.12092489749193192 + ], + "joint_positions": [ + 1.098994493484497, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 138, + "virtual_xyz": [ + 0.12311819940805435, + -0.2259848266839981, + 0.6940351128578186 + ], + "wrist_rpy": [ + -1.5431091785430908, + -1.237265706062317, + 1.5967079401016235 + ], + "finger_dofs": [ + 1.3545324802398682, + -0.0022936619352549314, + 0.005175558850169182, + 1.5990395545959473, + 0.00197774195112288, + 9.08357251319103e-05, + 1.2014485597610474, + -0.00022791801893617958, + -0.0003007604682352394, + 0.7105047702789307, + 0.0027823259588330984, + 0.03531244769692421, + 0.45530346035957336, + -0.002446601400151849, + 0.002217770554125309, + 1.176052451133728, + -0.0021760081872344017, + 0.0018825248116627336, + 0.6726620197296143, + 0.004182806704193354, + -0.012785129249095917, + 0.3019278347492218, + 0.009408488869667053, + -0.0017167958430945873, + 0.7918989062309265, + -0.002492329105734825, + 0.0019617790821939707, + 1.203891396522522, + -0.0033626349177211523, + 0.04134749621152878, + 0.7549145817756653, + 0.0029049101285636425, + 0.002356715966016054, + 1.1884512901306152, + 0.0011678464943543077, + 0.0021371429320424795, + 0.7682403922080994, + 1.2556166648864746, + -0.458629310131073, + -0.0019428038503974676, + -0.002410427900031209, + -0.495380163192749, + 0.0020623602904379368, + -0.002359857549890876, + -0.6164937019348145 + ], + "wrist_pos": [ + 0.12311827391386032, + -0.22598475217819214, + 0.6940350532531738 + ], + "wrist_rot": [ + -0.6941514611244202, + 0.1167139783501625, + 0.7004418969154358, + 0.11795198172330856 + ], + "joint_positions": [ + 1.107608675956726, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 139, + "virtual_xyz": [ + 0.12315559387207031, + -0.22831080853939056, + 0.6940354704856873 + ], + "wrist_rpy": [ + -1.542382836341858, + -1.2458909749984741, + 1.5974738597869873 + ], + "finger_dofs": [ + 1.354506492614746, + -0.002337005455046892, + 0.0050942013040184975, + 1.5990575551986694, + 0.0019548938143998384, + 8.528187754563987e-05, + 1.2014508247375488, + -0.00023134045477490872, + -0.000301262189168483, + 0.7104762196540833, + 0.002763189608231187, + 0.03534127026796341, + 0.4553526043891907, + -0.0024760498199611902, + 0.00222566700540483, + 1.175987720489502, + -0.0021693480666726828, + 0.0018821347039192915, + 0.6726917624473572, + 0.004164336249232292, + -0.01282914262264967, + 0.30197954177856445, + 0.009389718994498253, + -0.001697882660664618, + 0.7917557954788208, + -0.00249036424793303, + 0.0019593765027821064, + 1.2026616334915161, + -0.00353557663038373, + 0.04040021076798439, + 0.7553112506866455, + 0.0025125439278781414, + 0.0023978629615157843, + 1.18877112865448, + 0.0013017832534387708, + 0.0021352083422243595, + 0.7681666612625122, + 1.2555110454559326, + -0.45851588249206543, + -0.0019378430442884564, + -0.0024032972287386656, + -0.49541106820106506, + 0.0020582149736583233, + -0.0023615239188075066, + -0.6164470911026001 + ], + "wrist_pos": [ + 0.12315566092729568, + -0.2283107340335846, + 0.6940354108810425 + ], + "wrist_rot": [ + -0.6946464776992798, + 0.11371776461601257, + 0.7009462714195251, + 0.11492927372455597 + ], + "joint_positions": [ + 1.1162340641021729, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 140, + "virtual_xyz": [ + 0.12320768088102341, + -0.23063640296459198, + 0.6940350532531738 + ], + "wrist_rpy": [ + -1.5413936376571655, + -1.2544363737106323, + 1.5984448194503784 + ], + "finger_dofs": [ + 1.3544511795043945, + -0.0022938174661248922, + 0.00515623576939106, + 1.5990118980407715, + 0.0019751761574298143, + 9.537429286865517e-05, + 1.2014660835266113, + -0.00022958363115321845, + -0.00030363467521965504, + 0.7104045152664185, + 0.0027802048716694117, + 0.035317812114953995, + 0.4553321897983551, + -0.0024503006134182215, + 0.002218661829829216, + 1.176053762435913, + -0.002175470581278205, + 0.001882330747321248, + 0.6723276376724243, + 0.00418698787689209, + -0.012777288444340229, + 0.30215466022491455, + 0.00941069982945919, + -0.001717982580885291, + 0.7918726801872253, + -0.002492609666660428, + 0.001961424481123686, + 1.2037180662155151, + -0.0033645660150796175, + 0.041336219757795334, + 0.75506192445755, + 0.0029055082704871893, + 0.0023565872106701136, + 1.1884121894836426, + 0.0011571749346330762, + 0.002136843279004097, + 0.7682150602340698, + 1.2555556297302246, + -0.45867255330085754, + -0.0019425838254392147, + -0.0024117697030305862, + -0.4952412545681, + 0.0020625791512429714, + -0.0023608168121427298, + -0.6165110468864441 + ], + "wrist_pos": [ + 0.12320774793624878, + -0.230636328458786, + 0.694034993648529 + ], + "wrist_rot": [ + -0.6951017379760742, + 0.11072677373886108, + 0.7014555335044861, + 0.11195167899131775 + ], + "joint_positions": [ + 1.1248472929000854, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 141, + "virtual_xyz": [ + 0.12328486144542694, + -0.23296138644218445, + 0.6940354108810425 + ], + "wrist_rpy": [ + -1.5405609607696533, + -1.2630592584609985, + 1.5993074178695679 + ], + "finger_dofs": [ + 1.3544188737869263, + -0.0023348748218268156, + 0.005102385301142931, + 1.5990136861801147, + 0.001955003710463643, + 9.097180736716837e-05, + 1.201470971107483, + -0.0002330307470401749, + -0.00030445208540186286, + 0.7103769779205322, + 0.0027606082148849964, + 0.035349104553461075, + 0.4553741216659546, + -0.0024792382027953863, + 0.002226256998255849, + 1.176008939743042, + -0.002168977865949273, + 0.0018819416873157024, + 0.6723248958587646, + 0.004168468527495861, + -0.012799518182873726, + 0.3022319972515106, + 0.009392299689352512, + -0.0016985858092084527, + 0.7917625308036804, + -0.0024905051104724407, + 0.001959133194759488, + 1.2024803161621094, + -0.003537975950166583, + 0.040400370955467224, + 0.7554635405540466, + 0.002512739971280098, + 0.002398076234385371, + 1.1887496709823608, + 0.0012916841078549623, + 0.002134932903572917, + 0.7681306600570679, + 1.2554534673690796, + -0.4585430324077606, + -0.0019376706331968307, + -0.00240443367511034, + -0.4952724277973175, + 0.0020584631711244583, + -0.0023624629247933626, + -0.6164645552635193 + ], + "wrist_pos": [ + 0.12328492105007172, + -0.23296131193637848, + 0.6940353512763977 + ], + "wrist_rot": [ + -0.6955695748329163, + 0.10772369801998138, + 0.7019352316856384, + 0.10892855376005173 + ], + "joint_positions": [ + 1.133472204208374, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 142, + "virtual_xyz": [ + 0.12337703257799149, + -0.23528581857681274, + 0.6940349340438843 + ], + "wrist_rpy": [ + -1.539453148841858, + -1.2716045379638672, + 1.6003986597061157 + ], + "finger_dofs": [ + 1.3543550968170166, + -0.0022943869698792696, + 0.005145990755409002, + 1.5989787578582764, + 0.001972385449334979, + 9.898925054585561e-05, + 1.2014834880828857, + -0.00023154269729275256, + -0.00030634007998742163, + 0.7103099822998047, + 0.0027774986810982227, + 0.03532681614160538, + 0.4553532302379608, + -0.002454225905239582, + 0.0022195070050656796, + 1.1760648488998413, + -0.0021749476436525583, + 0.0018821010598912835, + 0.6719627976417542, + 0.004191188607364893, + -0.01276051253080368, + 0.3024085462093353, + 0.009412173181772232, + -0.0017183093586936593, + 0.7918692827224731, + -0.0024928213097155094, + 0.0019611110910773277, + 1.2035479545593262, + -0.003366712247952819, + 0.041327912360429764, + 0.7552034258842468, + 0.0029056700877845287, + 0.002356758341193199, + 1.1883994340896606, + 0.0011473661288619041, + 0.0021365212742239237, + 0.7681936621665955, + 1.2554928064346313, + -0.4587177038192749, + -0.0019423968624323606, + -0.0024125641211867332, + -0.4950910806655884, + 0.002062723506242037, + -0.002361540449783206, + -0.616527795791626 + ], + "wrist_pos": [ + 0.12337709963321686, + -0.23528575897216797, + 0.6940348744392395 + ], + "wrist_rot": [ + -0.6959981322288513, + 0.10472884029150009, + 0.7024199962615967, + 0.10594600439071655 + ], + "joint_positions": [ + 1.1420859098434448, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 143, + "virtual_xyz": [ + 0.12349385768175125, + -0.23760902881622314, + 0.6940353512763977 + ], + "wrist_rpy": [ + -1.5385122299194336, + -1.2802225351333618, + 1.6013755798339844 + ], + "finger_dofs": [ + 1.3543219566345215, + -0.0023354843724519014, + 0.005077044945210218, + 1.5989910364151, + 0.001952152932062745, + 9.423363371752203e-05, + 1.2014846801757812, + -0.00023432797752320766, + -0.00030655894079245627, + 0.7102673053741455, + 0.0027581213507801294, + 0.03535616770386696, + 0.45540812611579895, + -0.002482670359313488, + 0.0022272481583058834, + 1.1760014295578003, + -0.002168462611734867, + 0.0018817567033693194, + 0.6719768047332764, + 0.004173246677964926, + -0.012798093259334564, + 0.3024556040763855, + 0.009395087137818336, + -0.0016995822079479694, + 0.7917172908782959, + -0.0024906534235924482, + 0.0019588919822126627, + 1.2023011445999146, + -0.003539157100021839, + 0.04038452357053757, + 0.7555978298187256, + 0.0025133441668003798, + 0.002397900214418769, + 1.1887248754501343, + 0.0012799096293747425, + 0.0021346628200262785, + 0.7681074142456055, + 1.2553802728652954, + -0.45859894156455994, + -0.001937360386364162, + -0.002405912848189473, + -0.4951140582561493, + 0.0020586419850587845, + -0.002363472944125533, + -0.6164839863777161 + ], + "wrist_pos": [ + 0.12349393218755722, + -0.23760895431041718, + 0.6940352916717529 + ], + "wrist_rot": [ + -0.6964394450187683, + 0.10172544419765472, + 0.7028738856315613, + 0.10291832685470581 + ], + "joint_positions": [ + 1.150710105895996, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 144, + "virtual_xyz": [ + 0.1236259862780571, + -0.23993127048015594, + 0.69403475522995 + ], + "wrist_rpy": [ + -1.537261724472046, + -1.288769245147705, + 1.602604627609253 + ], + "finger_dofs": [ + 1.3542183637619019, + -0.0022982044611126184, + 0.005118765402585268, + 1.5989515781402588, + 0.0019653502386063337, + 0.00010312657104805112, + 1.201496958732605, + -0.00023205301840789616, + -0.00030843046260997653, + 0.7102103233337402, + 0.0027736658230423927, + 0.035340551286935806, + 0.4553750455379486, + -0.002459879033267498, + 0.0022197901271283627, + 1.1760612726211548, + -0.0021736659109592438, + 0.0018823735881596804, + 0.6716108918190002, + 0.004200146067887545, + -0.012757980264723301, + 0.3026028871536255, + 0.009421375580132008, + -0.0017195757245644927, + 0.7918012142181396, + -0.0024931912776082754, + 0.001960878726094961, + 1.2033748626708984, + -0.003370433347299695, + 0.04131581261754036, + 0.755327045917511, + 0.002906221430748701, + 0.0023560894187539816, + 1.188377857208252, + 0.00113638152834028, + 0.0021366209257394075, + 0.7681883573532104, + 1.2554129362106323, + -0.45878270268440247, + -0.0019431145628914237, + -0.002417538082227111, + -0.49487927556037903, + 0.0020659607835114002, + -0.0023681167513132095, + -0.6165406107902527 + ], + "wrist_pos": [ + 0.12362605333328247, + -0.23993119597434998, + 0.6940346956253052 + ], + "wrist_rot": [ + -0.6968414187431335, + 0.09872424602508545, + 0.7033341526985168, + 0.09993298351764679 + ], + "joint_positions": [ + 1.159324049949646, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 145, + "virtual_xyz": [ + 0.12378241121768951, + -0.2422519475221634, + 0.6940350532531738 + ], + "wrist_rpy": [ + -1.5361796617507935, + -1.2973862886428833, + 1.6037288904190063 + ], + "finger_dofs": [ + 1.354170322418213, + -0.002335323952138424, + 0.005049992352724075, + 1.598968505859375, + 0.001946420525200665, + 9.585804218659177e-05, + 1.2014951705932617, + -0.00023565937590319663, + -0.0003079669550061226, + 0.7101684212684631, + 0.002754498738795519, + 0.03536844253540039, + 0.4554254710674286, + -0.0024845548905432224, + 0.0022270302288234234, + 1.1759953498840332, + -0.002167808124795556, + 0.0018820406403392553, + 0.6715657114982605, + 0.004194346256554127, + -0.012796623632311821, + 0.3028906285762787, + 0.009425390511751175, + -0.0017172116786241531, + 0.7913588285446167, + -0.002493079984560609, + 0.001959197223186493, + 1.2017741203308105, + -0.003475996432825923, + 0.04048716649413109, + 0.7559669017791748, + 0.0025280688423663378, + 0.002367021981626749, + 1.188905119895935, + 0.0012392427306622267, + 0.0021349529270082712, + 0.7681188583374023, + 1.2552876472473145, + -0.45869457721710205, + -0.0019372532842680812, + -0.0024115140549838543, + -0.49487003684043884, + 0.002061721170321107, + -0.0023702080361545086, + -0.616496205329895 + ], + "wrist_pos": [ + 0.12378247082233429, + -0.24225187301635742, + 0.694034993648529 + ], + "wrist_rot": [ + -0.6972554326057434, + 0.0957195982336998, + 0.703763484954834, + 0.09689933061599731 + ], + "joint_positions": [ + 1.1679481267929077, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 146, + "virtual_xyz": [ + 0.12395413219928741, + -0.24457165598869324, + 0.6940345168113708 + ], + "wrist_rpy": [ + -1.5347466468811035, + -1.3059210777282715, + 1.6051404476165771 + ], + "finger_dofs": [ + 1.3541016578674316, + -0.0022945236414670944, + 0.005083094816654921, + 1.5989402532577515, + 0.0019640407990664244, + 0.0001039915659930557, + 1.201505184173584, + -0.00023333901481237262, + -0.00030936673283576965, + 0.7100781202316284, + 0.0027703498490154743, + 0.035342950373888016, + 0.4554125666618347, + -0.0024649333208799362, + 0.002221168950200081, + 1.1760467290878296, + -0.0021726673003286123, + 0.0018821978010237217, + 0.6711034774780273, + 0.004219889175146818, + -0.012764377519488335, + 0.3031948208808899, + 0.00944336038082838, + -0.0017336877062916756, + 0.7913773655891418, + -0.0024954425171017647, + 0.0019609201699495316, + 1.2026926279067993, + -0.003310892730951309, + 0.04144616425037384, + 0.7556977272033691, + 0.002935387659817934, + 0.002332784701138735, + 1.1885215044021606, + 0.0010616716463118792, + 0.0021365107968449593, + 0.7681766748428345, + 1.2553249597549438, + -0.4588821530342102, + -0.0019421182805672288, + -0.002419854747131467, + -0.4946744441986084, + 0.0020660939626395702, + -0.00236937846057117, + -0.6165627837181091 + ], + "wrist_pos": [ + 0.12395420670509338, + -0.24457156658172607, + 0.6940344572067261 + ], + "wrist_rot": [ + -0.6976284980773926, + 0.09271847456693649, + 0.7042001485824585, + 0.09391417354345322 + ], + "joint_positions": [ + 1.176559567451477, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 147, + "virtual_xyz": [ + 0.12415043264627457, + -0.24688932299613953, + 0.6940348148345947 + ], + "wrist_rpy": [ + -1.533469796180725, + -1.3145333528518677, + 1.606434941291809 + ], + "finger_dofs": [ + 1.3540633916854858, + -0.0024022627621889114, + 0.005090579856187105, + 1.5989140272140503, + 0.001878682291135192, + 0.00010150897287530825, + 1.201508641242981, + -0.0002348268317291513, + -0.0003098126908298582, + 0.7100281715393066, + 0.0027482190635055304, + 0.035389937460422516, + 0.45546624064445496, + -0.002493866952136159, + 0.002227610209956765, + 1.1759941577911377, + -0.002165844663977623, + 0.0018822458805516362, + 0.6710013747215271, + 0.004200853407382965, + -0.012765135616064072, + 0.3033756911754608, + 0.009429425932466984, + -0.0017221777234226465, + 0.7912102341651917, + -0.0024933808017522097, + 0.0019589276053011417, + 1.2014758586883545, + -0.003481719410046935, + 0.04051186516880989, + 0.7562583684921265, + 0.0025297582615166903, + 0.002366922330111265, + 1.1888378858566284, + 0.0011834233300760388, + 0.00213495921343565, + 0.768068253993988, + 1.2552143335342407, + -0.4587385654449463, + -0.0019378371071070433, + -0.002412457950413227, + -0.4946877658367157, + 0.0020618755370378494, + -0.002371444832533598, + -0.6165164709091187 + ], + "wrist_pos": [ + 0.12415049970149994, + -0.24688923358917236, + 0.69403475522995 + ], + "wrist_rot": [ + -0.6980141997337341, + 0.08970320969820023, + 0.7046055197715759, + 0.09088683873414993 + ], + "joint_positions": [ + 1.1851812601089478, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 148, + "virtual_xyz": [ + 0.12436442077159882, + -0.24920561909675598, + 0.6940348148345947 + ], + "wrist_rpy": [ + -1.5319383144378662, + -1.3231072425842285, + 1.607938289642334 + ], + "finger_dofs": [ + 1.3540066480636597, + -0.0023790067061781883, + 0.005151290912181139, + 1.5988627672195435, + 0.0018842907156795263, + 0.0001161823674920015, + 1.2015211582183838, + -0.00022810883820056915, + -0.00031161861261352897, + 0.7099600434303284, + 0.002749533159658313, + 0.03539067134261131, + 0.4554656744003296, + -0.002498450456187129, + 0.0022284991573542356, + 1.1760584115982056, + -0.0021658013574779034, + 0.0018818563548848033, + 0.6706503629684448, + 0.004193009342998266, + -0.012701504863798618, + 0.3036220371723175, + 0.00941989105194807, + -0.0017165817553177476, + 0.7912737131118774, + -0.0024934217799454927, + 0.001958497567102313, + 1.2016805410385132, + -0.0034803093876689672, + 0.040440816432237625, + 0.7562301754951477, + 0.0025090158451348543, + 0.0023730313405394554, + 1.1887056827545166, + 0.0012550244573503733, + 0.002134671900421381, + 0.7680054306983948, + 1.2551989555358887, + -0.45870450139045715, + -0.0019376763375476003, + -0.0024125336203724146, + -0.49460166692733765, + 0.0020623255986720324, + -0.0023721822071820498, + -0.6165295839309692 + ], + "wrist_pos": [ + 0.12436448782682419, + -0.24920554459095, + 0.69403475522995 + ], + "wrist_rot": [ + -0.6983723640441895, + 0.08668266981840134, + 0.7050091624259949, + 0.08788669854402542 + ], + "joint_positions": [ + 1.1937971115112305, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 149, + "virtual_xyz": [ + 0.1245950311422348, + -0.2515198588371277, + 0.6940343976020813 + ], + "wrist_rpy": [ + -1.5302486419677734, + -1.3316494226455688, + 1.6096328496932983 + ], + "finger_dofs": [ + 1.3539090156555176, + -0.0023829874116927385, + 0.005116404499858618, + 1.598870038986206, + 0.0018922771560028195, + 0.00010045341332443058, + 1.2015199661254883, + -0.00023857303312979639, + -0.00031121328356675804, + 0.7099936008453369, + 0.0027596093714237213, + 0.03537552058696747, + 0.4554821848869324, + -0.0024642236530780792, + 0.002218755893409252, + 1.1760483980178833, + -0.0021739525254815817, + 0.0018823463469743729, + 0.6704457998275757, + 0.004225661046802998, + -0.012684299610555172, + 0.30364128947257996, + 0.00945843942463398, + -0.0017379234777763486, + 0.7911942601203918, + -0.002496051136404276, + 0.001961057772859931, + 1.2027907371520996, + -0.0033771246671676636, + 0.0413130484521389, + 0.7557306885719299, + 0.0029104663990437984, + 0.0023545094300061464, + 1.188305139541626, + 0.0011083605932071805, + 0.0021368912421166897, + 0.7680614590644836, + 1.2551896572113037, + -0.45888301730155945, + -0.0019420527387410402, + -0.0024213306605815887, + -0.49440115690231323, + 0.0020665270276367664, + -0.002372430870309472, + -0.6165848970413208 + ], + "wrist_pos": [ + 0.12459509819746017, + -0.2515197694301605, + 0.6940343379974365 + ], + "wrist_rot": [ + -0.6987103223800659, + 0.08368279039859772, + 0.7054046392440796, + 0.0848841741681099 + ], + "joint_positions": [ + 1.2024050951004028, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 150, + "virtual_xyz": [ + 0.1248520091176033, + -0.25383177399635315, + 0.6940348744392395 + ], + "wrist_rpy": [ + -1.5287295579910278, + -1.340298056602478, + 1.6112358570098877 + ], + "finger_dofs": [ + 1.3537541627883911, + -0.0023722711484879255, + 0.0049681998789310455, + 1.598921537399292, + 0.001877808477729559, + 0.00011125834134873003, + 1.2015103101730347, + -0.00022773978707846254, + -0.00030870811315253377, + 0.7098996639251709, + 0.0027387039735913277, + 0.035277970135211945, + 0.4552314281463623, + -0.0025276406668126583, + 0.0022397602442651987, + 1.1761505603790283, + -0.0021577507723122835, + 0.0018814352806657553, + 0.6708371043205261, + 0.004219917114824057, + -0.012829858809709549, + 0.3033304810523987, + 0.009446133859455585, + -0.0017335782758891582, + 0.7907301783561707, + -0.0024950504302978516, + 0.0019588011782616377, + 1.201439380645752, + -0.0034357744734734297, + 0.04039769247174263, + 0.7558855414390564, + 0.002537240507081151, + 0.002356212818995118, + 1.1887959241867065, + 0.0012219983618706465, + 0.0021342041436582804, + 0.768058717250824, + 1.2549792528152466, + -0.45887109637260437, + -0.0019353083334863186, + -0.002417753916233778, + -0.4943659007549286, + 0.0020624171011149883, + -0.0023744713980704546, + -0.6165207028388977 + ], + "wrist_pos": [ + 0.12485207617282867, + -0.253831684589386, + 0.6940348148345947 + ], + "wrist_rot": [ + -0.699062168598175, + 0.08067256957292557, + 0.7057691216468811, + 0.08181555569171906 + ], + "joint_positions": [ + 1.2110220193862915, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 151, + "virtual_xyz": [ + 0.12512551248073578, + -0.2561415433883667, + 0.6940345764160156 + ], + "wrist_rpy": [ + -1.526763916015625, + -1.3488329648971558, + 1.6131569147109985 + ], + "finger_dofs": [ + 1.3537386655807495, + -0.002401951001957059, + 0.005034297239035368, + 1.598881721496582, + 0.0018702419474720955, + 0.00010534022294450551, + 1.2015187740325928, + -0.00023363834770862013, + -0.00031001382740214467, + 0.7097897529602051, + 0.0027412530034780502, + 0.0353754386305809, + 0.4553719162940979, + -0.0025047259405255318, + 0.0022301969584077597, + 1.17607843875885, + -0.002163713099434972, + 0.0018817333038896322, + 0.6701204776763916, + 0.004231792408972979, + -0.012734310701489449, + 0.3040510416030884, + 0.009458542801439762, + -0.001738729071803391, + 0.7907553911209106, + -0.0024960695300251245, + 0.001958768116310239, + 1.2010403871536255, + -0.003487116890028119, + 0.0404793880879879, + 0.7563822865486145, + 0.002547214739024639, + 0.002375897252932191, + 1.1887716054916382, + 0.0012206019600853324, + 0.0021344278939068317, + 0.7679523229598999, + 1.254976749420166, + -0.45885786414146423, + -0.001936766435392201, + -0.0024164936039596796, + -0.494255930185318, + 0.002062624553218484, + -0.002374550560489297, + -0.6165536046028137 + ], + "wrist_pos": [ + 0.12512557208538055, + -0.25614145398139954, + 0.6940345168113708 + ], + "wrist_rot": [ + -0.6993743777275085, + 0.07765454053878784, + 0.7061381340026855, + 0.07882940769195557 + ], + "joint_positions": [ + 1.2196382284164429, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 152, + "virtual_xyz": [ + 0.12541860342025757, + -0.25844866037368774, + 0.6940345764160156 + ], + "wrist_rpy": [ + -1.5246449708938599, + -1.3573960065841675, + 1.615258812904358 + ], + "finger_dofs": [ + 1.3536711931228638, + -0.0023783675860613585, + 0.00505323288962245, + 1.5988584756851196, + 0.0018699249485507607, + 0.00011672251275740564, + 1.2015210390090942, + -0.00022574061586055905, + -0.0003099340246990323, + 0.7097094655036926, + 0.002739566145464778, + 0.035416267812252045, + 0.4554441273212433, + -0.00250608311034739, + 0.0022319331765174866, + 1.1760302782058716, + -0.0021639829501509666, + 0.0018812743946909904, + 0.6697101593017578, + 0.004231040365993977, + -0.012715015560388565, + 0.30442848801612854, + 0.009455280378460884, + -0.0017365753883495927, + 0.7907359004020691, + -0.0024962786119431257, + 0.0019583278335630894, + 1.2008553743362427, + -0.003486433532088995, + 0.04047878086566925, + 0.7565279603004456, + 0.0025479644536972046, + 0.00237432774156332, + 1.1887931823730469, + 0.0012215430615469813, + 0.0021340888924896717, + 0.7678283452987671, + 1.2549477815628052, + -0.4591890573501587, + -0.0019207026343792677, + -0.0024774663615971804, + -0.4934820532798767, + 0.002085381420329213, + -0.002427861327305436, + -0.6165679693222046 + ], + "wrist_pos": [ + 0.12541866302490234, + -0.2584485709667206, + 0.6940345168113708 + ], + "wrist_rot": [ + -0.6996743679046631, + 0.07463447749614716, + 0.7064958214759827, + 0.07582201808691025 + ], + "joint_positions": [ + 1.2282567024230957, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 153, + "virtual_xyz": [ + 0.12573149800300598, + -0.2607533633708954, + 0.6940344572067261 + ], + "wrist_rpy": [ + -1.522357702255249, + -1.3659535646438599, + 1.6175426244735718 + ], + "finger_dofs": [ + 1.35360586643219, + -0.002400723285973072, + 0.005021737422794104, + 1.598865270614624, + 0.0018651384161785245, + 0.00010535521869314834, + 1.2015172243118286, + -0.00023155055532697588, + -0.0003089191159233451, + 0.7096068859100342, + 0.002736840397119522, + 0.03544524684548378, + 0.4555148780345917, + -0.0025051599368453026, + 0.0022313082590699196, + 1.1759872436523438, + -0.0021638846956193447, + 0.0018813959322869778, + 0.6693686246871948, + 0.004242131486535072, + -0.012714915908873081, + 0.30469509959220886, + 0.009462443180382252, + -0.0017416676273569465, + 0.7907187938690186, + -0.0024966211058199406, + 0.0019585122354328632, + 1.200705647468567, + -0.00348352431319654, + 0.04047055542469025, + 0.7566841840744019, + 0.0025467697996646166, + 0.002373739844188094, + 1.1887892484664917, + 0.0012158900499343872, + 0.0021340586245059967, + 0.7677993774414062, + 1.254892349243164, + -0.45922404527664185, + -0.0019199596717953682, + -0.002479210728779435, + -0.49338242411613464, + 0.0020853125024586916, + -0.0024290098808705807, + -0.6165815591812134 + ], + "wrist_pos": [ + 0.12573155760765076, + -0.2607532739639282, + 0.6940343976020813 + ], + "wrist_rot": [ + -0.6999614238739014, + 0.07161936163902283, + 0.7068403959274292, + 0.07280983030796051 + ], + "joint_positions": [ + 1.236872673034668, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 154, + "virtual_xyz": [ + 0.12606386840343475, + -0.26305505633354187, + 0.6940345168113708 + ], + "wrist_rpy": [ + -1.5198386907577515, + -1.3745172023773193, + 1.6200621128082275 + ], + "finger_dofs": [ + 1.3535163402557373, + -0.0023715198040008545, + 0.004999781958758831, + 1.598862886428833, + 0.0018684199312701821, + 0.00011426671699155122, + 1.2015141248703003, + -0.00022386913769878447, + -0.00030774317565374076, + 0.7095370292663574, + 0.0027337928768247366, + 0.035449545830488205, + 0.45557621121406555, + -0.0025031068362295628, + 0.002232384867966175, + 1.1759440898895264, + -0.002164861187338829, + 0.0018810071051120758, + 0.6690894365310669, + 0.00424657016992569, + -0.012736473232507706, + 0.30487361550331116, + 0.009470510296523571, + -0.0017442237585783005, + 0.7907083630561829, + -0.0024975992273539305, + 0.0019588470458984375, + 1.200587511062622, + -0.0034796963445842266, + 0.040442951023578644, + 0.7567828297615051, + 0.0025476261507719755, + 0.002373053692281246, + 1.1887856721878052, + 0.0012062388705089688, + 0.0021343978587538004, + 0.7678192257881165, + 1.254825472831726, + -0.459295392036438, + -0.0019191321916878223, + -0.002481477102264762, + -0.493271142244339, + 0.0020858137868344784, + -0.0024303968530148268, + -0.6165902614593506 + ], + "wrist_pos": [ + 0.12606392800807953, + -0.2630549669265747, + 0.6940344572067261 + ], + "wrist_rot": [ + -0.700233519077301, + 0.06860175728797913, + 0.70717453956604, + 0.06979242712259293 + ], + "joint_positions": [ + 1.2454875707626343, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 155, + "virtual_xyz": [ + 0.12641631066799164, + -0.26535385847091675, + 0.6940343976020813 + ], + "wrist_rpy": [ + -1.5170739889144897, + -1.3830732107162476, + 1.62282133102417 + ], + "finger_dofs": [ + 1.3534272909164429, + -0.0023943830747157335, + 0.004965335130691528, + 1.5988696813583374, + 0.0018632118590176105, + 0.00010302028385922313, + 1.2015085220336914, + -0.00022907854872755706, + -0.0003063197946175933, + 0.7094364762306213, + 0.002730252919718623, + 0.035466451197862625, + 0.4556286036968231, + -0.0025039163883775473, + 0.002232080325484276, + 1.1759190559387207, + -0.002164420671761036, + 0.001881083589978516, + 0.6687526702880859, + 0.004260025452822447, + -0.01273952703922987, + 0.3050990700721741, + 0.009476054459810257, + -0.001749376067891717, + 0.7907231450080872, + -0.0024976590648293495, + 0.001959076849743724, + 1.2004410028457642, + -0.003475261153653264, + 0.04042617604136467, + 0.7569212317466736, + 0.0025456873700022697, + 0.0023724203929305077, + 1.1887890100479126, + 0.0012009198544546962, + 0.0021342996042221785, + 0.7677847146987915, + 1.2547513246536255, + -0.45935162901878357, + -0.001917942427098751, + -0.002483016112819314, + -0.49312829971313477, + 0.0020853911992162466, + -0.002430974505841732, + -0.6166006326675415 + ], + "wrist_pos": [ + 0.1264163702726364, + -0.2653537690639496, + 0.6940343379974365 + ], + "wrist_rot": [ + -0.7004915475845337, + 0.06558267772197723, + 0.7074964642524719, + 0.06677787005901337 + ], + "joint_positions": [ + 1.2541016340255737, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 156, + "virtual_xyz": [ + 0.1267884373664856, + -0.26764950156211853, + 0.6940343976020813 + ], + "wrist_rpy": [ + -1.5140011310577393, + -1.3916257619857788, + 1.6258946657180786 + ], + "finger_dofs": [ + 1.3533579111099243, + -0.0023881355300545692, + 0.004924132488667965, + 1.598884105682373, + 0.0018631810089573264, + 9.80972035904415e-05, + 1.2015000581741333, + -0.00022885478392709047, + -0.00030428945319727063, + 0.7093226909637451, + 0.002730034990236163, + 0.03548045456409454, + 0.45568525791168213, + -0.002501786919310689, + 0.0022323434241116047, + 1.175869345664978, + -0.0021647613029927015, + 0.001880996278487146, + 0.668423056602478, + 0.00427246792241931, + -0.01277603954076767, + 0.3052810728549957, + 0.00948538351804018, + -0.0017550229094922543, + 0.7907323241233826, + -0.002498573623597622, + 0.001959276618435979, + 1.2002893686294556, + -0.0034684138372540474, + 0.04038694128394127, + 0.7570603489875793, + 0.0025446766521781683, + 0.002371081616729498, + 1.188793659210205, + 0.001192729570902884, + 0.00213435385376215, + 0.7677856087684631, + 1.2546621561050415, + -0.4594409465789795, + -0.0019169306615367532, + -0.002485307166352868, + -0.49299073219299316, + 0.002085505984723568, + -0.00243231188505888, + -0.6166127324104309 + ], + "wrist_pos": [ + 0.12678849697113037, + -0.26764941215515137, + 0.6940343379974365 + ], + "wrist_rot": [ + -0.7007334232330322, + 0.06256530433893204, + 0.7078083753585815, + 0.06376033276319504 + ], + "joint_positions": [ + 1.26271390914917, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 157, + "virtual_xyz": [ + 0.1271800994873047, + -0.2699417471885681, + 0.6940344572067261 + ], + "wrist_rpy": [ + -1.5105586051940918, + -1.4001787900924683, + 1.629331111907959 + ], + "finger_dofs": [ + 1.3532323837280273, + -0.00235738605260849, + 0.004891271702945232, + 1.5988892316818237, + 0.001869094092398882, + 0.00010777368152048439, + 1.2014930248260498, + -0.00021944273612461984, + -0.0003021026495844126, + 0.7092317342758179, + 0.0027317963540554047, + 0.03548498824238777, + 0.45572346448898315, + -0.0024975116830319166, + 0.002232928294688463, + 1.1758290529251099, + -0.002166044432669878, + 0.001880624215118587, + 0.6680769324302673, + 0.004281050991266966, + -0.012809408828616142, + 0.3054865896701813, + 0.00948935654014349, + -0.0017577162943780422, + 0.7907705903053284, + -0.0024994316045194864, + 0.0019593765027821064, + 1.2001465559005737, + -0.0034613176248967648, + 0.04034892097115517, + 0.7571931481361389, + 0.0025448636151850224, + 0.002370114205405116, + 1.188815951347351, + 0.0011894500348716974, + 0.0021343689877539873, + 0.7678032517433167, + 1.2545703649520874, + -0.4595276117324829, + -0.0019159186631441116, + -0.0024880627170205116, + -0.4928637146949768, + 0.0020859921351075172, + -0.0024336741771548986, + -0.6166194081306458 + ], + "wrist_pos": [ + 0.12718015909194946, + -0.26994165778160095, + 0.6940343976020813 + ], + "wrist_rot": [ + -0.7009590864181519, + 0.05954340472817421, + 0.7081109285354614, + 0.06074313074350357 + ], + "joint_positions": [ + 1.2713268995285034, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 158, + "virtual_xyz": [ + 0.12759168446063995, + -0.27223074436187744, + 0.6940345168113708 + ], + "wrist_rpy": [ + -1.5067253112792969, + -1.408722996711731, + 1.6331562995910645 + ], + "finger_dofs": [ + 1.3531614542007446, + -0.0023395963944494724, + 0.004877427592873573, + 1.5988919734954834, + 0.0019294930389150977, + 0.00010069513518828899, + 1.2014813423156738, + -0.0002200324961449951, + -0.000299295672448352, + 0.7092031836509705, + 0.0027352350298315287, + 0.0355319119989872, + 0.455642968416214, + -0.0024801664985716343, + 0.0022294085938483477, + 1.1757054328918457, + -0.0021692973095923662, + 0.0018802386475726962, + 0.6677084565162659, + 0.004293730948120356, + -0.012840102426707745, + 0.3057164251804352, + 0.00947829894721508, + -0.0017628902569413185, + 0.7908458709716797, + -0.0024984083138406277, + 0.0019593581091612577, + 1.2000000476837158, + -0.0034476700238883495, + 0.040305573493242264, + 0.7573267817497253, + 0.00254248408600688, + 0.0023675605189055204, + 1.1888384819030762, + 0.0011883180122822523, + 0.002133530331775546, + 0.7677669525146484, + 1.2544630765914917, + -0.4595694839954376, + -0.0019136498449370265, + -0.0024850519839674234, + -0.4927934408187866, + 0.002082809340208769, + -0.002429097192361951, + -0.6166305541992188 + ], + "wrist_pos": [ + 0.12759174406528473, + -0.2722306549549103, + 0.6940344572067261 + ], + "wrist_rot": [ + -0.7011699080467224, + 0.056521691381931305, + 0.7084019780158997, + 0.05772782489657402 + ], + "joint_positions": [ + 1.2799400091171265, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 159, + "virtual_xyz": [ + 0.12802259624004364, + -0.2745157778263092, + 0.6940343379974365 + ], + "wrist_rpy": [ + -1.5023466348648071, + -1.4172658920288086, + 1.637524962425232 + ], + "finger_dofs": [ + 1.3530508279800415, + -0.0023044513072818518, + 0.004838089924305677, + 1.5989058017730713, + 0.0019351848168298602, + 0.00010781650053104386, + 1.2014684677124023, + -0.00021028629271313548, + -0.0002960066485684365, + 0.7091095447540283, + 0.002738876501098275, + 0.03554748743772507, + 0.45569178462028503, + -0.0024715967010706663, + 0.0022294041700661182, + 1.1756138801574707, + -0.0021713227033615112, + 0.001879893010482192, + 0.6672970652580261, + 0.0043096113950014114, + -0.012895859777927399, + 0.30595457553863525, + 0.009484698064625263, + -0.0017657415010035038, + 0.7909250855445862, + -0.002499076770618558, + 0.0019596396014094353, + 1.1998672485351562, + -0.003438412444666028, + 0.040289681404829025, + 0.7574841976165771, + 0.0025452692061662674, + 0.002365661086514592, + 1.1888477802276611, + 0.001179656246677041, + 0.002133650239557028, + 0.7677961587905884, + 1.2543472051620483, + -0.45966947078704834, + -0.001912040519528091, + -0.0024891209322959185, + -0.4926629662513733, + 0.002083137631416321, + -0.0024307752028107643, + -0.6166388988494873 + ], + "wrist_pos": [ + 0.12802265584468842, + -0.27451568841934204, + 0.6940342783927917 + ], + "wrist_rot": [ + -0.7013615965843201, + 0.05349762737751007, + 0.7086864709854126, + 0.05471084266901016 + ], + "joint_positions": [ + 1.2885527610778809, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 160, + "virtual_xyz": [ + 0.12847380340099335, + -0.27679717540740967, + 0.6940344572067261 + ], + "wrist_rpy": [ + -1.497414231300354, + -1.425796627998352, + 1.642455816268921 + ], + "finger_dofs": [ + 1.3527902364730835, + -0.0023403249215334654, + 0.004730676766484976, + 1.5989434719085693, + 0.0019075694726780057, + 8.773407171247527e-05, + 1.2014460563659668, + -0.00021612779528368264, + -0.00029140248079784214, + 0.7089929580688477, + 0.0027422751300036907, + 0.03557128831744194, + 0.4555271863937378, + -0.002467549405992031, + 0.0022294020745903254, + 1.1754652261734009, + -0.002170406049117446, + 0.0018794615752995014, + 0.6668211817741394, + 0.004327157512307167, + -0.012985671870410442, + 0.3062411844730377, + 0.009479951113462448, + -0.0017707591177895665, + 0.7909926772117615, + -0.002498166635632515, + 0.001959741348400712, + 1.1996562480926514, + -0.003411687444895506, + 0.04019537940621376, + 0.7577984929084778, + 0.00252390094101429, + 0.002353921765461564, + 1.189016580581665, + 0.0011857404606416821, + 0.002132812049239874, + 0.7677776217460632, + 1.2542078495025635, + -0.45978447794914246, + -0.001908996724523604, + -0.00249078799970448, + -0.4924781620502472, + 0.0020821020007133484, + -0.0024312275927513838, + -0.6166415214538574 + ], + "wrist_pos": [ + 0.12847386300563812, + -0.2767970860004425, + 0.6940343976020813 + ], + "wrist_rot": [ + -0.7015376687049866, + 0.05047823116183281, + 0.708960235118866, + 0.05169311910867691 + ], + "joint_positions": [ + 1.2971649169921875, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 161, + "virtual_xyz": [ + 0.12894345819950104, + -0.27907466888427734, + 0.6940348744392395 + ], + "wrist_rpy": [ + -1.491661787033081, + -1.4343174695968628, + 1.6482105255126953 + ], + "finger_dofs": [ + 1.3528482913970947, + -0.002291348297148943, + 0.004657119046896696, + 1.5990053415298462, + 0.001960435416549444, + 8.87164642335847e-05, + 1.2014226913452148, + -0.00020795073942281306, + -0.0002861924294847995, + 0.7088199853897095, + 0.0027502039447426796, + 0.035552769899368286, + 0.45565059781074524, + -0.0024515294935554266, + 0.0022300106938928366, + 1.1753472089767456, + -0.0021743415854871273, + 0.0018785434076562524, + 0.6663047671318054, + 0.004347426351159811, + -0.013105776160955429, + 0.3065219819545746, + 0.009489595890045166, + -0.0017780172638595104, + 0.7911074757575989, + -0.0024998015724122524, + 0.001959921093657613, + 1.199440598487854, + -0.003389685647562146, + 0.040088314563035965, + 0.7580501437187195, + 0.002522137016057968, + 0.0023523219861090183, + 1.1890588998794556, + 0.0011731898412108421, + 0.0021327119320631027, + 0.7678501605987549, + 1.2540513277053833, + -0.46000242233276367, + -0.0019065334927290678, + -0.0024970744270831347, + -0.49226856231689453, + 0.00208324589766562, + -0.002433020155876875, + -0.616666316986084 + ], + "wrist_pos": [ + 0.1289435178041458, + -0.2790745794773102, + 0.6940348148345947 + ], + "wrist_rot": [ + -0.7016906142234802, + 0.0474606454372406, + 0.709230899810791, + 0.048674363642930984 + ], + "joint_positions": [ + 1.3057717084884644, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 162, + "virtual_xyz": [ + 0.1294322907924652, + -0.28134751319885254, + 0.69403475522995 + ], + "wrist_rpy": [ + -1.4847828149795532, + -1.4428486824035645, + 1.6550636291503906 + ], + "finger_dofs": [ + 1.3530018329620361, + -0.002314053475856781, + 0.0045935786329209805, + 1.5990772247314453, + 0.001915902947075665, + 6.0599337302846834e-05, + 1.201395869255066, + -0.0002180939627578482, + -0.00028068682877346873, + 0.7087569236755371, + 0.002742858836427331, + 0.03556293994188309, + 0.45562291145324707, + -0.002436490263789892, + 0.002227990422397852, + 1.17525315284729, + -0.0021767152938991785, + 0.00187874014955014, + 0.6657776236534119, + 0.004381145816296339, + -0.01320709753781557, + 0.3068046271800995, + 0.009510861709713936, + -0.0017900274833664298, + 0.7912095785140991, + -0.002501394599676132, + 0.0019607702270150185, + 1.199286699295044, + -0.003367607481777668, + 0.04002072289586067, + 0.7582039833068848, + 0.002521806862205267, + 0.002348467241972685, + 1.1891000270843506, + 0.0011622237507253885, + 0.0021331575699150562, + 0.7680051326751709, + 1.2539159059524536, + -0.4602493941783905, + -0.0019042836502194405, + -0.002501790877431631, + -0.4920612871646881, + 0.0020830538123846054, + -0.0024352159816771746, + -0.6166800260543823 + ], + "wrist_pos": [ + 0.12943235039710999, + -0.2813474237918854, + 0.6940346956253052 + ], + "wrist_rot": [ + -0.7018158435821533, + 0.04442564398050308, + 0.7095041871070862, + 0.045657895505428314 + ], + "joint_positions": [ + 1.3143795728683472, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 163, + "virtual_xyz": [ + 0.1299411654472351, + -0.2836160659790039, + 0.6940348744392395 + ], + "wrist_rpy": [ + -1.4766522645950317, + -1.4513720273971558, + 1.6631673574447632 + ], + "finger_dofs": [ + 1.3530303239822388, + -0.002267461968585849, + 0.004567504394799471, + 1.5991288423538208, + 0.0019391855457797647, + 5.963375951978378e-05, + 1.201363444328308, + -0.00020828052947763354, + -0.0002735875896178186, + 0.7086879014968872, + 0.0027491841465234756, + 0.0355767197906971, + 0.4556509554386139, + -0.0024204826913774014, + 0.0022274779621511698, + 1.1751117706298828, + -0.002179904608055949, + 0.0018784778658300638, + 0.6651526689529419, + 0.004412527196109295, + -0.013366643339395523, + 0.30718401074409485, + 0.009528927505016327, + -0.001799695659428835, + 0.7914096713066101, + -0.002503288211300969, + 0.0019613641779869795, + 1.1991246938705444, + -0.003333642613142729, + 0.039892084896564484, + 0.758430004119873, + 0.002519936067983508, + 0.0023441908415406942, + 1.1891536712646484, + 0.0011443182593211532, + 0.0021335978526622057, + 0.7682139873504639, + 1.253753423690796, + -0.4605216085910797, + -0.0019015707075595856, + -0.0025082703214138746, + -0.4918880760669708, + 0.002083463128656149, + -0.002437563380226493, + -0.6166834235191345 + ], + "wrist_pos": [ + 0.12994122505187988, + -0.28361597657203674, + 0.6940348148345947 + ], + "wrist_rot": [ + -0.7019166946411133, + 0.04138873517513275, + 0.7097758054733276, + 0.042640406638383865 + ], + "joint_positions": [ + 1.3229904174804688, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 164, + "virtual_xyz": [ + 0.1304687261581421, + -0.2858802378177643, + 0.6940348148345947 + ], + "wrist_rpy": [ + -1.4668372869491577, + -1.459830403327942, + 1.6729673147201538 + ], + "finger_dofs": [ + 1.3528884649276733, + -0.002275829203426838, + 0.0043517774902284145, + 1.5992605686187744, + 0.0019268294563516974, + 3.056112109334208e-05, + 1.2013157606124878, + -0.00021316662605386227, + -0.00026386158424429595, + 0.7084032893180847, + 0.0027497459668666124, + 0.03560832515358925, + 0.4558166265487671, + -0.002379601588472724, + 0.002222150331363082, + 1.1748740673065186, + -0.0021866667084395885, + 0.0018786865985020995, + 0.6641955971717834, + 0.004476445727050304, + -0.013621393591165543, + 0.30771738290786743, + 0.009563171304762363, + -0.0018221721984446049, + 0.7916979789733887, + -0.002506269607692957, + 0.001962801907211542, + 1.1994755268096924, + -0.003119786735624075, + 0.04007578268647194, + 0.7583396434783936, + 0.002479985123500228, + 0.0023168211337178946, + 1.1891779899597168, + 0.0009873317321762443, + 0.0021342188119888306, + 0.768461287021637, + 1.2535797357559204, + -0.4609973430633545, + -0.0018962169997394085, + -0.0025138475466519594, + -0.49159497022628784, + 0.0020827902480959892, + -0.002441603923216462, + -0.6167207956314087 + ], + "wrist_pos": [ + 0.13046878576278687, + -0.2858801484107971, + 0.69403475522995 + ], + "wrist_rot": [ + -0.7019840478897095, + 0.03837304562330246, + 0.7100526690483093, + 0.0396355576813221 + ], + "joint_positions": [ + 1.3315902948379517, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 165, + "virtual_xyz": [ + 0.13101671636104584, + -0.28813958168029785, + 0.6940348148345947 + ], + "wrist_rpy": [ + -1.4549238681793213, + -1.46830153465271, + 1.6848381757736206 + ], + "finger_dofs": [ + 1.3528131246566772, + -0.0022213670890778303, + 0.004135687369853258, + 1.5993973016738892, + 0.0019451217958703637, + 1.8895087123382837e-05, + 1.201262354850769, + -0.0002041017432929948, + -0.000252742029260844, + 0.7082106471061707, + 0.0027572077233344316, + 0.03563337028026581, + 0.45598840713500977, + -0.0023520959075540304, + 0.0022201265674084425, + 1.1746039390563965, + -0.0021918017882853746, + 0.0018784155836328864, + 0.6631978154182434, + 0.004541259258985519, + -0.013888607732951641, + 0.30833813548088074, + 0.009582798928022385, + -0.0018378900131210685, + 0.7920137047767639, + -0.00250837835483253, + 0.001963883638381958, + 1.1992515325546265, + -0.003067928133532405, + 0.03994246944785118, + 0.7587764859199524, + 0.002482018666341901, + 0.002306717913597822, + 1.1893190145492554, + 0.0009254185715690255, + 0.002134923590347171, + 0.768729031085968, + 1.253352403640747, + -0.46140798926353455, + -0.001891631749458611, + -0.0025222869589924812, + -0.49136215448379517, + 0.0020827914122492075, + -0.002444879850372672, + -0.6167187094688416 + ], + "wrist_pos": [ + 0.1310167759656906, + -0.2881394922733307, + 0.69403475522995 + ], + "wrist_rot": [ + -0.7020233273506165, + 0.03533622622489929, + 0.7103329300880432, + 0.036629099398851395 + ], + "joint_positions": [ + 1.3401939868927002, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 166, + "virtual_xyz": [ + 0.13158543407917023, + -0.2903948426246643, + 0.6940345764160156 + ], + "wrist_rpy": [ + -1.4406019449234009, + -1.476737380027771, + 1.6990498304367065 + ], + "finger_dofs": [ + 1.352649450302124, + -0.002232292899861932, + 0.004004407674074173, + 1.5994983911514282, + 0.0019403127953410149, + -7.535865734098479e-06, + 1.201192855834961, + -0.00019989372231066227, + -0.00023920116655062884, + 0.7079712152481079, + 0.0027614994905889034, + 0.0356878899037838, + 0.456317275762558, + -0.0023280028253793716, + 0.002215729793533683, + 1.1744403839111328, + -0.0021970027592033148, + 0.0018781450344249606, + 0.6618421077728271, + 0.004611898213624954, + -0.014018612913787365, + 0.3093116283416748, + 0.009579027071595192, + -0.001850118045695126, + 0.7925528883934021, + -0.0025076172314584255, + 0.0019650061149150133, + 1.1981250047683716, + -0.0032409776467829943, + 0.03948798030614853, + 0.7602573037147522, + 0.0025392426177859306, + 0.002350431401282549, + 1.1889830827713013, + 0.001052827574312687, + 0.002135638613253832, + 0.7687541246414185, + 1.2530609369277954, + -0.4615389108657837, + -0.001890781451947987, + -0.002525000600144267, + -0.491148978471756, + 0.0020825520623475313, + -0.002444926183670759, + -0.6167078614234924 + ], + "wrist_pos": [ + 0.131585493683815, + -0.29039475321769714, + 0.6940345168113708 + ], + "wrist_rot": [ + -0.7020407319068909, + 0.032280150800943375, + 0.7106083631515503, + 0.03365098685026169 + ], + "joint_positions": [ + 1.348803997039795, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 167, + "virtual_xyz": [ + 0.13217179477214813, + -0.2926441431045532, + 0.6940348744392395 + ], + "wrist_rpy": [ + -1.4224615097045898, + -1.4851261377334595, + 1.717168927192688 + ], + "finger_dofs": [ + 1.3524521589279175, + -0.002153443405404687, + 0.0037279545795172453, + 1.5996949672698975, + 0.0019704250153154135, + -2.888081144192256e-05, + 1.2010924816131592, + -0.0001836481096688658, + -0.00021992165420670062, + 0.7076223492622375, + 0.0027818498201668262, + 0.03577395901083946, + 0.45671164989471436, + -0.0022558611817657948, + 0.002208399586379528, + 1.1739665269851685, + -0.002210431732237339, + 0.0018779805395752192, + 0.6605668067932129, + 0.004780963994562626, + -0.014443572610616684, + 0.3101329207420349, + 0.009620323777198792, + -0.0018804450519382954, + 0.7930330038070679, + -0.0025118121411651373, + 0.0019671383779495955, + 1.1977074146270752, + -0.003102474147453904, + 0.039388205856084824, + 0.7608721256256104, + 0.002526300260797143, + 0.0023121358826756477, + 1.1890134811401367, + 0.0009426760952919722, + 0.0021369897294789553, + 0.7690870761871338, + 1.2526577711105347, + -0.4620678722858429, + -0.0018832820933312178, + -0.002538796979933977, + -0.4908870458602905, + 0.0020822715014219284, + -0.0024504896719008684, + -0.6167030334472656 + ], + "wrist_pos": [ + 0.1321718543767929, + -0.29264405369758606, + 0.6940348148345947 + ], + "wrist_rot": [ + -0.7020120620727539, + 0.029258588328957558, + 0.7109034657478333, + 0.030644718557596207 + ], + "joint_positions": [ + 1.35740327835083, + 7.909021881857825e-09 + ] + }, + { + "phase": "drag", + "step": 168, + "virtual_xyz": [ + 0.13277767598628998, + -0.2948891222476959, + 0.6940354704856873 + ], + "wrist_rpy": [ + -1.3990579843521118, + -1.4934452772140503, + 1.7404508590698242 + ], + "finger_dofs": [ + 1.3522425889968872, + -0.0021636970341205597, + 0.0035038080532103777, + 1.5998916625976562, + 0.0019590063020586967, + -8.139973215293139e-05, + 1.200964331626892, + -0.00018100232409778982, + -0.0001963654940482229, + 0.7071983814239502, + 0.0027879502158612013, + 0.03588077425956726, + 0.45766472816467285, + -0.002155707450583577, + 0.002192338230088353, + 1.1734710931777954, + -0.0022299971897155046, + 0.0018772621406242251, + 0.6586567759513855, + 0.004959809128195047, + -0.014724541455507278, + 0.31142234802246094, + 0.009635449387133121, + -0.0019065083470195532, + 0.7939664125442505, + -0.0025125346146523952, + 0.0019692624919116497, + 1.1969196796417236, + -0.003047647885978222, + 0.03914782777428627, + 0.7623159885406494, + 0.0025208170991390944, + 0.002303200075402856, + 1.1891624927520752, + 0.000947632419411093, + 0.0021373394411057234, + 0.7692809104919434, + 1.2522164583206177, + -0.4624898135662079, + -0.0018751033348962665, + -0.002550398698076606, + -0.49058711528778076, + 0.002081653568893671, + -0.002455036388710141, + -0.6167040467262268 + ], + "wrist_pos": [ + 0.13277773559093475, + -0.29488903284072876, + 0.6940354108810425 + ], + "wrist_rot": [ + -0.7019331455230713, + 0.02620757557451725, + 0.7112219929695129, + 0.02767987921833992 + ], + "joint_positions": [ + 1.3659991025924683, + 7.909021881857825e-09 + ] + } +] \ No newline at end of file diff --git a/StorageFurniture/46490/hoi_trajectories/handle_3/trajectory.json b/StorageFurniture/46490/hoi_trajectories/handle_3/trajectory.json new file mode 100644 index 0000000000000000000000000000000000000000..162f32567de261737c5e3c003d497a3ea819196f --- /dev/null +++ b/StorageFurniture/46490/hoi_trajectories/handle_3/trajectory.json @@ -0,0 +1,8362 @@ +[ + { + "phase": "approach", + "step": 0, + "virtual_xyz": [ + 0.13105911016464233, + 0.06649354845285416, + 0.6944777369499207 + ], + "wrist_rpy": [ + -1.5726220607757568, + -0.012481256388127804, + 1.5773983001708984 + ], + "finger_dofs": [ + 0.007350367493927479, + 0.0016884205397218466, + 0.01506530400365591, + 0.006145142018795013, + -0.0017961414996534586, + 0.0018692071316763759, + 0.00023592669458594173, + -0.001139430794864893, + -1.5616613382007927e-05, + 0.006420275662094355, + -0.0006088372319936752, + 0.011997424997389317, + 0.012303385883569717, + -0.0018219056073576212, + 0.0018876277608796954, + 0.0001878280017990619, + -0.0008981144637800753, + -0.0005283255595713854, + 0.016891008242964745, + -0.0018718665232881904, + 0.015769027173519135, + 0.004259944427758455, + -0.0018154990393668413, + 0.001905614510178566, + 0.000743830983992666, + 0.0005038495291955769, + -0.0004899685736745596, + 0.007747592404484749, + 0.0015011295909062028, + 0.013177112676203251, + 0.013749584555625916, + 0.00035684165777638555, + 0.0018966990755870938, + -1.231766782439081e-05, + 0.0004767764767166227, + -0.00042609788943082094, + 0.00948993768543005, + -0.0024543667677789927, + 0.008034750819206238, + -0.0015253836754709482, + -0.0018889677012339234, + 0.0161636620759964, + -0.0010510405991226435, + -0.001183227519504726, + -0.0024421412963420153 + ], + "wrist_pos": [ + 0.13105922937393188, + 0.06649352610111237, + 0.6944776773452759 + ], + "wrist_rot": [ + -0.5019193291664124, + 0.49898844957351685, + 0.5042927861213684, + 0.49474862217903137 + ], + "joint_positions": [ + 5.3318394144241665e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 1, + "virtual_xyz": [ + 0.13132311403751373, + 0.06645720452070236, + 0.6940637826919556 + ], + "wrist_rpy": [ + -1.5716196298599243, + -0.005360669922083616, + 1.5737160444259644 + ], + "finger_dofs": [ + 0.0028137529734522104, + 0.00046000993461348116, + 0.004094209522008896, + 0.002302721841260791, + -0.0004636211087927222, + 0.000416957976995036, + 0.00026727942167781293, + -0.0003116648003924638, + -3.619247081587673e-06, + 0.002538139233365655, + -0.00022480290499515831, + 0.0032811854034662247, + 0.00411983672529459, + -0.0005774174933321774, + 0.0005172891542315483, + 0.0002403332618996501, + -0.0002524510200601071, + -0.00015228387201204896, + 0.007347167003899813, + -0.0008872718317434192, + 0.004357560537755489, + 0.0030048524495214224, + -0.0007957195630297065, + 0.0006223195232450962, + 0.0006895491969771683, + 0.00014682264009024948, + -0.00013957121700514108, + 0.002965332241728902, + 0.0002589717914815992, + 0.0036195842549204826, + 0.004611289594322443, + 3.919503069482744e-05, + 0.0005725646042264998, + 0.0002120494464179501, + 0.00014313746942207217, + -0.0001388727978337556, + 0.0035492856986820698, + 0.00021936798293609172, + 0.0017088891472667456, + 0.00013992312597110868, + -0.00010045470844488591, + 0.004005823750048876, + -8.554744999855757e-05, + -0.0002538502449169755, + -0.0010969002032652497 + ], + "wrist_pos": [ + 0.1313232183456421, + 0.06645718216896057, + 0.6940637230873108 + ], + "wrist_rot": [ + -0.50081467628479, + 0.49959591031074524, + 0.5018600821495056, + 0.49771973490715027 + ], + "joint_positions": [ + 5.3332791516425004e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 2, + "virtual_xyz": [ + 0.13185928761959076, + 0.06646036356687546, + 0.6940529346466064 + ], + "wrist_rpy": [ + -1.571161150932312, + -0.00231730449013412, + 1.5720410346984863 + ], + "finger_dofs": [ + 0.002200380666181445, + 5.794963362859562e-05, + 0.0009177781757898629, + 0.0016580164665356278, + 1.5128024642763194e-05, + -0.0001660595298744738, + 0.0005439770175144076, + -2.9912478566984646e-05, + -9.992223795052269e-07, + 0.0021137010771781206, + -6.52044836897403e-05, + 0.0007610063767060637, + 0.002179704839363694, + -2.596755621198099e-05, + -0.00012298248475417495, + 0.0005270089604891837, + -2.9638771593454294e-05, + -2.8383465178194456e-05, + 0.0037332470528781414, + -0.00017822797235567123, + 0.0010737398406490684, + 0.0019535457249730825, + -0.00019073627481702715, + -3.910599843948148e-05, + 0.0006820005946792662, + 3.966830263379961e-05, + -1.8118906154995784e-05, + 0.002273733261972666, + -5.536263051908463e-05, + 0.0008468262385576963, + 0.002348574809730053, + -1.9683335267473012e-05, + -8.311365672852844e-05, + 0.0005477856611832976, + 3.3512642403366044e-05, + -3.088159064645879e-05, + 0.0017614866374060512, + 0.0019602994434535503, + -0.0006725676939822733, + 0.00021274920436553657, + 0.00040728901512920856, + 4.3408817873569205e-05, + 1.661160604271572e-05, + 8.282186900032684e-05, + -0.001195114804431796 + ], + "wrist_pos": [ + 0.13185939192771912, + 0.06646034121513367, + 0.6940528750419617 + ], + "wrist_rot": [ + -0.5003589391708374, + 0.4998229742050171, + 0.5007985234260559, + 0.49901771545410156 + ], + "joint_positions": [ + 5.333659736095342e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 3, + "virtual_xyz": [ + 0.13260391354560852, + 0.06646205484867096, + 0.6940518021583557 + ], + "wrist_rpy": [ + -1.5709576606750488, + -0.0010012300917878747, + 1.5713273286819458 + ], + "finger_dofs": [ + 0.003022956196218729, + -1.809004243114032e-05, + 0.00018644880037754774, + 0.002109996508806944, + 5.707271338906139e-05, + -0.0001491319271735847, + 0.0009517807047814131, + 1.2242045158927795e-05, + -2.727696539750468e-07, + 0.0029976104851812124, + -2.5165078113786876e-05, + 0.00018813362112268806, + 0.0022844101767987013, + 1.7869528164737858e-05, + -0.0001026495301630348, + 0.0009406859171576798, + 2.0143340861977777e-06, + -2.1279242901073303e-06, + 0.003520191414281726, + -0.00013948122796136886, + 0.0004373038245830685, + 0.0022139453794807196, + -0.00013225623115431517, + 5.89190203754697e-05, + 0.0010054181329905987, + 1.3174301784601994e-05, + 2.54158135248872e-06, + 0.003070988692343235, + -6.823881267337129e-05, + 0.00023670827795285732, + 0.0023554563522338867, + -2.26287647819845e-05, + -4.769835140905343e-05, + 0.0009592765709385276, + 9.974014574254397e-06, + -7.668334546906408e-06, + 0.0016664443537592888, + 0.003775922814384103, + -0.001954684965312481, + 6.579438922926784e-05, + 0.00039841156103648245, + -0.0014244017656892538, + 3.4645336199901067e-06, + 0.0001314028340857476, + -0.0019185590790584683 + ], + "wrist_pos": [ + 0.13260403275489807, + 0.06646203249692917, + 0.6940517425537109 + ], + "wrist_rot": [ + -0.5001577138900757, + 0.49992263317108154, + 0.5003424882888794, + 0.4995766878128052 + ], + "joint_positions": [ + 5.333760988435188e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 4, + "virtual_xyz": [ + 0.1335480511188507, + 0.06646300852298737, + 0.6940510869026184 + ], + "wrist_rpy": [ + -1.570867896080017, + -0.00043338153045624495, + 1.571021556854248 + ], + "finger_dofs": [ + 0.004522375296801329, + -2.4774697521934286e-05, + 2.8540429411805235e-05, + 0.0030673821456730366, + 3.7340421840781346e-05, + -9.454545943299308e-05, + 0.0014932419871911407, + 1.3768079043074977e-05, + -7.384773681451406e-08, + 0.0045158290304243565, + -1.1974448170803953e-05, + 7.443992944899946e-05, + 0.0031376557890325785, + -1.077236174751306e-05, + -3.012804882018827e-05, + 0.0014838868519291282, + 5.5292639444815e-07, + 2.7806493108073482e-06, + 0.004641814157366753, + -0.00020272476831451058, + 0.00038550441968254745, + 0.00308950780890882, + -0.00016555655747652054, + 0.0002064839209197089, + 0.0015210808487609029, + 6.917830432939809e-06, + 3.582891395126353e-06, + 0.004554517567157745, + -3.23576241498813e-05, + 0.00012677568884100765, + 0.0031712648924440145, + -1.6868887541932054e-05, + 4.172012995695695e-05, + 0.0014930501347407699, + 5.824126219522441e-06, + -3.419459972064942e-06, + 0.00223807105794549, + 0.0060047865845263, + -0.003183781635016203, + -3.417161133256741e-05, + 0.0003951069957111031, + -0.0024750272277742624, + -1.4907927834428847e-05, + 0.00014838686911389232, + -0.002986314008012414 + ], + "wrist_pos": [ + 0.13354817032814026, + 0.06646298617124557, + 0.6940510272979736 + ], + "wrist_rot": [ + -0.500069797039032, + 0.49996572732925415, + 0.500146746635437, + 0.49981769919395447 + ], + "joint_positions": [ + 5.333786745609359e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 5, + "virtual_xyz": [ + 0.13468478620052338, + 0.06646358221769333, + 0.6940507888793945 + ], + "wrist_rpy": [ + -1.5708285570144653, + -0.00018899922724813223, + 1.5708894729614258 + ], + "finger_dofs": [ + 0.0064796386286616325, + -2.2050071493140422e-05, + -2.7906123705179198e-06, + 0.004354553762823343, + 2.1708847270929255e-05, + -6.944486813154072e-05, + 0.0021610113326460123, + 1.202434032165911e-05, + -2.0046478255153488e-08, + 0.006478716153651476, + -6.704277893732069e-06, + 6.208010017871857e-05, + 0.004389825277030468, + -3.591600034269504e-05, + 1.3807608411298133e-05, + 0.002151409862563014, + -3.5515213312464766e-06, + 3.715001184900757e-06, + 0.006394911557435989, + -0.0002637628640513867, + 0.00044987123692408204, + 0.004299588035792112, + -0.00019996754417661577, + 0.0003159731568302959, + 0.002169946674257517, + 5.851761216035811e-06, + 2.2959250145504484e-06, + 0.006503465119749308, + -4.287981482775649e-06, + 0.00012488469656091183, + 0.00440750690177083, + -1.1996153261861764e-05, + 0.00010172978363698348, + 0.0021538357250392437, + 5.772433269157773e-06, + -2.965033672808204e-06, + 0.003142049303278327, + 0.008705757558345795, + -0.004590937867760658, + -8.976201206678525e-05, + 0.00043434411054477096, + -0.003577792551368475, + -2.7628255338640884e-05, + 0.00016971179866231978, + -0.004320659674704075 + ], + "wrist_pos": [ + 0.13468490540981293, + 0.06646355986595154, + 0.6940507292747498 + ], + "wrist_rot": [ + -0.5000318884849548, + 0.49998393654823303, + 0.5000624060630798, + 0.4999217391014099 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 6, + "virtual_xyz": [ + 0.13600695133209229, + 0.06646396964788437, + 0.6940507292747498 + ], + "wrist_rpy": [ + -1.5708118677139282, + -8.414789772359654e-05, + 1.5708318948745728 + ], + "finger_dofs": [ + 0.008820281364023685, + -2.0283128833398223e-05, + -7.93873823567992e-06, + 0.0059083253145217896, + 1.3894562471250538e-05, + -6.311178003670648e-05, + 0.002948157489299774, + 1.1508978786878288e-05, + -5.561036076073833e-09, + 0.00882110558450222, + -4.664857897296315e-06, + 7.018870383035392e-05, + 0.005930979270488024, + -5.293637150316499e-05, + 3.754671342903748e-05, + 0.0029375350568443537, + -6.469461823144229e-06, + 4.094483756489353e-06, + 0.008612154051661491, + -0.00031824715551920235, + 0.0005320514901541173, + 0.005794838070869446, + -0.0002309075352968648, + 0.0003989076358266175, + 0.0029441225342452526, + 6.224390290299198e-06, + 1.3625144674733747e-06, + 0.00884051714092493, + 1.2291861821722705e-05, + 0.00014415475015994161, + 0.005941546522080898, + -8.706669177627191e-06, + 0.00014092438505031168, + 0.0029358863830566406, + 6.60967771182186e-06, + -3.248021585022798e-06, + 0.00426801573485136, + 0.01187594048678875, + -0.00621793931350112, + -0.0001233993680216372, + 0.0004933511954732239, + -0.004827817901968956, + -3.659424328361638e-05, + 0.00019473771681077778, + -0.005895632319152355 + ], + "wrist_pos": [ + 0.13600707054138184, + 0.06646394729614258, + 0.694050669670105 + ], + "wrist_rot": [ + -0.500015914440155, + 0.49999159574508667, + 0.5000259280204773, + 0.49996650218963623 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 7, + "virtual_xyz": [ + 0.13750769197940826, + 0.06646431982517242, + 0.6940507292747498 + ], + "wrist_rpy": [ + -1.570804476737976, + -3.946810829802416e-05, + 1.570806860923767 + ], + "finger_dofs": [ + 0.011510941199958324, + -2.0032144675496966e-05, + -8.549312042305246e-06, + 0.007699998095631599, + 1.0446711712575052e-05, + -6.512574327643961e-05, + 0.003849097527563572, + 1.1954697583860252e-05, + -1.704965946203174e-09, + 0.011512408964335918, + -4.111366706638364e-06, + 8.139620331348851e-05, + 0.007717836648225784, + -6.518942973343655e-05, + 5.161074659554288e-05, + 0.003837188007310033, + -8.398814316024072e-06, + 4.4901403271069285e-06, + 0.011219319887459278, + -0.00036946561885997653, + 0.0006133441929705441, + 0.007543500047177076, + -0.00025931213167496026, + 0.0004682660801336169, + 0.0038361281622201204, + 7.0415717345895246e-06, + 8.708883569852333e-07, + 0.011529795825481415, + 2.1818739696755074e-05, + 0.00016624628915451467, + 0.0077246674336493015, + -6.090370334277395e-06, + 0.00016994521138258278, + 0.003832863410934806, + 7.651437044842169e-06, + -3.6479561913438374e-06, + 0.0055758836679160595, + 0.015500085428357124, + -0.008066227659583092, + -0.00014769210247322917, + 0.0005580937722697854, + -0.006239721085876226, + -4.3848471250385046e-05, + 0.00022071776038501412, + -0.007698102854192257 + ], + "wrist_pos": [ + 0.13750781118869781, + 0.06646429747343063, + 0.694050669670105 + ], + "wrist_rot": [ + -0.5000091791152954, + 0.4999946057796478, + 0.5000103116035461, + 0.4999857544898987 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 8, + "virtual_xyz": [ + 0.139179989695549, + 0.0664646103978157, + 0.694050669670105 + ], + "wrist_rpy": [ + -1.570802092552185, + -2.0752315322170034e-05, + 1.5707951784133911 + ], + "finger_dofs": [ + 0.014531495980918407, + -2.0613735614460893e-05, + -8.935900041251443e-06, + 0.009713233448565006, + 9.014449460664764e-06, + -7.056757749523968e-05, + 0.004858969710767269, + 1.286781389353564e-05, + -7.180272487694594e-10, + 0.01453318540006876, + -4.270743829692947e-06, + 9.228780254488811e-05, + 0.009728852659463882, + -7.492366421502084e-05, + 6.123254570411518e-05, + 0.004845683462917805, + -9.75545663095545e-06, + 4.9505715651321225e-06, + 0.014171912334859371, + -0.00041809657705016434, + 0.0006909538060426712, + 0.009520081803202629, + -0.0002849251904990524, + 0.0005305114900693297, + 0.004838299006223679, + 8.02448448666837e-06, + 6.438159516619635e-07, + 0.014549478888511658, + 2.7722955564968288e-05, + 0.00018759147496894002, + 0.009732803329825401, + -3.355767148605082e-06, + 0.00019400734163355082, + 0.004839218221604824, + 8.745462764636613e-06, + -4.032337528769858e-06, + 0.007043021731078625, + 0.019560230895876884, + -0.010127624496817589, + -0.00017562936409376562, + 0.0006518522859551013, + -0.007809530012309551, + -5.3001163905719295e-05, + 0.00024537835270166397, + -0.009718185290694237 + ], + "wrist_pos": [ + 0.13918010890483856, + 0.06646458804607391, + 0.6940506100654602 + ], + "wrist_rot": [ + -0.5000066757202148, + 0.4999959170818329, + 0.5000033974647522, + 0.49999377131462097 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 9, + "virtual_xyz": [ + 0.14101682603359222, + 0.0664648786187172, + 0.694050669670105 + ], + "wrist_rpy": [ + -1.570800542831421, + -1.3233049685368314e-05, + 1.5707893371582031 + ], + "finger_dofs": [ + 0.0178659837692976, + -2.127346488123294e-05, + -9.45910687732976e-06, + 0.011935999616980553, + 8.180990334949456e-06, + -7.711433863732964e-05, + 0.005973193794488907, + 1.3917687283537816e-05, + -5.256317048285553e-10, + 0.017867835238575935, + -4.768762664753012e-06, + 0.00010260599083267152, + 0.01195005513727665, + -8.348970004590228e-05, + 6.903635221533477e-05, + 0.005958541762083769, + -1.0827414371306077e-05, + 5.419241006165976e-06, + 0.017448734492063522, + -0.0005003710393793881, + 0.0007540372316725552, + 0.01171460933983326, + -0.0003029939834959805, + 0.0006329761235974729, + 0.005946360994130373, + 8.957313184509985e-06, + 4.96352470236161e-07, + 0.017883090302348137, + 3.18871061608661e-05, + 0.00020803374354727566, + 0.011951080523431301, + -7.56409050950424e-08, + 0.00021535744599532336, + 0.005950094200670719, + 9.844391570368316e-06, + -4.353960775915766e-06, + 0.008673280477523804, + 0.02403964102268219, + -0.012395128607749939, + -0.0001918733905768022, + 0.000782201299443841, + -0.00953349843621254, + -5.871019311598502e-05, + 0.000269328651484102, + -0.011946827173233032 + ], + "wrist_pos": [ + 0.14101694524288177, + 0.0664648562669754, + 0.6940506100654602 + ], + "wrist_rot": [ + -0.500005841255188, + 0.49999600648880005, + 0.500000536441803, + 0.49999743700027466 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 10, + "virtual_xyz": [ + 0.1430111825466156, + 0.06646513193845749, + 0.694050669670105 + ], + "wrist_rpy": [ + -1.5708011388778687, + -1.0666524758562446e-05, + 1.5707861185073853 + ], + "finger_dofs": [ + 0.021500129252672195, + -2.181248964916449e-05, + -1.0233135981252417e-05, + 0.014358085580170155, + 7.4194858825649135e-06, + -8.403533138334751e-05, + 0.007187318988144398, + 1.4988367183832452e-05, + -2.3534835191796333e-10, + 0.021502071991562843, + -5.432369562186068e-06, + 0.00011228804214624688, + 0.01437024399638176, + -9.127913654083386e-05, + 7.579495286336169e-05, + 0.007171344012022018, + -1.1714733773260377e-05, + 5.893080015084706e-06, + 0.02102544903755188, + -0.0006120717735029757, + 0.0008197618299163878, + 0.014112228527665138, + -0.0003188581031281501, + 0.000752051011659205, + 0.00715409591794014, + 9.995480468205642e-06, + 3.8818541270302376e-07, + 0.021515745669603348, + 3.535478754201904e-05, + 0.00022728143085259944, + 0.014367586001753807, + 4.065322627866408e-06, + 0.00023512166808359325, + 0.007160722278058529, + 1.0952458069368731e-05, + -4.6370632844627835e-06, + 0.010452339425683022, + 0.028918711468577385, + -0.014859693124890327, + -0.0002083566942019388, + 0.0009030295768752694, + -0.01140508707612753, + -6.660067447228357e-05, + 0.00029193752561695874, + -0.0143752321600914 + ], + "wrist_pos": [ + 0.14301130175590515, + 0.0664651095867157, + 0.6940506100654602 + ], + "wrist_rot": [ + -0.5000061988830566, + 0.4999959468841553, + 0.49999895691871643, + 0.49999886751174927 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 11, + "virtual_xyz": [ + 0.1451561599969864, + 0.06646539270877838, + 0.6940506100654602 + ], + "wrist_rpy": [ + -1.5708017349243164, + -1.0295821084582713e-05, + 1.5707842111587524 + ], + "finger_dofs": [ + 0.02542033977806568, + -2.2039039322407916e-05, + -1.1083655408583581e-05, + 0.016970142722129822, + 6.438152468035696e-06, + -9.089548257179558e-05, + 0.008496938273310661, + 1.600337418494746e-05, + -2.8338076329958994e-10, + 0.025422345846891403, + -6.1818900576327e-06, + 0.00012151163537055254, + 0.016979806125164032, + -9.857380791800097e-05, + 8.204930054489523e-05, + 0.008479694835841656, + -1.2488972060964443e-05, + 6.35586593489279e-06, + 0.024885259568691254, + -0.0007274106028489769, + 0.0008838089415803552, + 0.016696343198418617, + -0.0003328848397359252, + 0.0008641937747597694, + 0.008455948904156685, + 1.1079468094976619e-05, + 2.7591360662881925e-07, + 0.025433719158172607, + 3.859775097225793e-05, + 0.0002455821668263525, + 0.016972659155726433, + 9.163612958218437e-06, + 0.0002538294065743685, + 0.008466590195894241, + 1.2083124602213502e-05, + -4.892681317869574e-06, + 0.012370011769235134, + 0.034181393682956696, + -0.01751241832971573, + -0.00022600218653678894, + 0.0010164116974920034, + -0.013417256064713001, + -7.56308509153314e-05, + 0.00031307406607083976, + -0.016994614154100418 + ], + "wrist_pos": [ + 0.14515627920627594, + 0.06646537035703659, + 0.6940505504608154 + ], + "wrist_rot": [ + -0.5000066757202148, + 0.49999573826789856, + 0.4999982416629791, + 0.49999919533729553 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 12, + "virtual_xyz": [ + 0.1474446952342987, + 0.06646561622619629, + 0.6940506100654602 + ], + "wrist_rpy": [ + -1.5708016157150269, + -1.0916272003669292e-05, + 1.570783019065857 + ], + "finger_dofs": [ + 0.02961338870227337, + -2.1958023353363387e-05, + -1.211301514558727e-05, + 0.019763296470046043, + 5.242299721430754e-06, + -9.772731573320925e-05, + 0.009897683747112751, + 1.6968117051874287e-05, + -5.194963556554022e-11, + 0.02961541712284088, + -6.991736427153228e-06, + 0.00013017482706345618, + 0.019769731909036636, + -0.00010530691361054778, + 8.771616558078676e-05, + 0.00987923238426447, + -1.3142818716005422e-05, + 6.815893357270397e-06, + 0.029012324288487434, + -0.0008414893527515233, + 0.0009449053322896361, + 0.01945759914815426, + -0.0003437016566749662, + 0.0009711911552585661, + 0.009847293607890606, + 1.2172249626019038e-05, + 1.6991376128316915e-07, + 0.029623759910464287, + 4.162844561506063e-05, + 0.00026279239682480693, + 0.019757257774472237, + 1.5252409866661765e-05, + 0.00027135174605064094, + 0.009863355197012424, + 1.3219219908933155e-05, + -5.1001702559005935e-06, + 0.014420066960155964, + 0.03981044143438339, + -0.020344404503703117, + -0.00024414065410383046, + 0.0011223097098991275, + -0.015563325956463814, + -8.557011460652575e-05, + 0.0003326759033370763, + -0.019796201959252357 + ], + "wrist_pos": [ + 0.14744481444358826, + 0.0664655938744545, + 0.6940505504608154 + ], + "wrist_rot": [ + -0.5000070929527283, + 0.4999951720237732, + 0.49999821186065674, + 0.49999943375587463 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 13, + "virtual_xyz": [ + 0.14986976981163025, + 0.06646585464477539, + 0.6940505504608154 + ], + "wrist_rpy": [ + -1.5708017349243164, + -1.2048344615323003e-05, + 1.5707824230194092 + ], + "finger_dofs": [ + 0.034066010266542435, + -2.1452204236993566e-05, + -1.3122524251230061e-05, + 0.02272856794297695, + 3.6637657103710808e-06, + -0.00010426774679217488, + 0.011385157704353333, + 1.7834490790846758e-05, + -2.625282768953241e-10, + 0.03406801074743271, + -7.832091796444729e-06, + 0.0001384453644277528, + 0.02273089997470379, + -0.00011166701733600348, + 9.310718451160938e-05, + 0.011365569196641445, + -1.3715312888962217e-05, + 7.253978765220381e-06, + 0.03339105844497681, + -0.0009548894013278186, + 0.001003060839138925, + 0.022385943681001663, + -0.00035101533285342157, + 0.0010725738247856498, + 0.011323437094688416, + 1.3256478268885985e-05, + 4.166986045106569e-08, + 0.03407244384288788, + 4.475337118492462e-05, + 0.0002790597209241241, + 0.022712059319019318, + 2.2397032807930373e-05, + 0.0002880098472815007, + 0.01134653389453888, + 1.4371847100846935e-05, + -5.278067874314729e-06, + 0.016594836488366127, + 0.04578859359025955, + -0.023346908390522003, + -0.00026312959380447865, + 0.0012208031257614493, + -0.01783648319542408, + -9.59520330070518e-05, + 0.00035068418947048485, + -0.022771265357732773 + ], + "wrist_pos": [ + 0.1498698890209198, + 0.0664658322930336, + 0.6940504908561707 + ], + "wrist_rot": [ + -0.5000076293945312, + 0.49999481439590454, + 0.49999821186065674, + 0.4999992251396179 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 14, + "virtual_xyz": [ + 0.15242452919483185, + 0.06646609306335449, + 0.6940505504608154 + ], + "wrist_rpy": [ + -1.570801854133606, + -1.3466512427839916e-05, + 1.5707815885543823 + ], + "finger_dofs": [ + 0.03876511752605438, + -2.057673736999277e-05, + -1.4235982234822586e-05, + 0.025857284665107727, + 1.7723408518577344e-06, + -0.00011070359323639423, + 0.012955010868608952, + 1.8635768356034532e-05, + -3.0090532843196627e-10, + 0.038767021149396896, + -8.693899872014299e-06, + 0.0001462615473428741, + 0.025854630395770073, + -0.00011758712935261428, + 9.805881563806906e-05, + 0.012934339232742786, + -1.4188675777404569e-05, + 7.682148861931637e-06, + 0.03800990432500839, + -0.001067303353920579, + 0.0010582287795841694, + 0.025473423302173615, + -0.00035478666541166604, + 0.0011688070371747017, + 0.012880228459835052, + 1.4349629054777324e-05, + -9.757518881770011e-08, + 0.038766734302043915, + 4.790181264979765e-05, + 0.00029438117053359747, + 0.025828437879681587, + 3.0574101401725784e-05, + 0.0003036234120372683, + 0.012911800295114517, + 1.5529280062764883e-05, + -5.4115157581691165e-06, + 0.018887847661972046, + 0.05209860950708389, + -0.02651139907538891, + -0.0002826379786711186, + 0.0013119068462401628, + -0.02023043856024742, + -0.00010654785000951961, + 0.0003672315215226263, + -0.025911064818501472 + ], + "wrist_pos": [ + 0.1524246484041214, + 0.0664660707116127, + 0.6940504908561707 + ], + "wrist_rot": [ + -0.5000081658363342, + 0.49999433755874634, + 0.4999983012676239, + 0.49999916553497314 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 15, + "virtual_xyz": [ + 0.15510185062885284, + 0.06646627932786942, + 0.6940506100654602 + ], + "wrist_rpy": [ + -1.570802092552185, + -1.5059570614539552e-05, + 1.5707805156707764 + ], + "finger_dofs": [ + 0.04369773343205452, + -1.934364263433963e-05, + -1.544260885566473e-05, + 0.029140817001461983, + -4.1773614611884113e-07, + -0.0001169716488220729, + 0.01460286509245634, + 1.9361365048098378e-05, + -1.7838139299009015e-10, + 0.0436994843184948, + -9.587946806277614e-06, + 0.00015358046221081167, + 0.029132334515452385, + -0.00012303463881835341, + 0.0001025578094413504, + 0.014581176452338696, + -1.4560949239239562e-05, + 8.097767022263724e-06, + 0.04285699874162674, + -0.001183041837066412, + 0.0011100693373009562, + 0.02871336229145527, + -0.000354225019691512, + 0.0012597207678481936, + 0.014514045789837837, + 1.5458030247827992e-05, + -2.4143926680153527e-07, + 0.04369361698627472, + 5.102175418869592e-05, + 0.0003086761280428618, + 0.029097747057676315, + 3.973384082200937e-05, + 0.00031809089705348015, + 0.014554809778928757, + 1.6684907677699812e-05, + -5.498419341165572e-06, + 0.021292703226208687, + 0.05872292444109917, + -0.029828976839780807, + -0.0003027649945579469, + 0.0013954158639535308, + -0.02273845300078392, + -0.0001173425407614559, + 0.0003822362923528999, + -0.02920684590935707 + ], + "wrist_pos": [ + 0.1551019698381424, + 0.06646625697612762, + 0.6940505504608154 + ], + "wrist_rot": [ + -0.5000089406967163, + 0.4999936819076538, + 0.49999839067459106, + 0.4999988079071045 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 16, + "virtual_xyz": [ + 0.15789474546909332, + 0.06646648794412613, + 0.6940506100654602 + ], + "wrist_rpy": [ + -1.5708025693893433, + -1.6795924238977022e-05, + 1.5707794427871704 + ], + "finger_dofs": [ + 0.04885060340166092, + -1.76777939486783e-05, + -1.6595824490650557e-05, + 0.032570283859968185, + -3.014474259543931e-06, + -0.00012288922152947634, + 0.016324350610375404, + 1.9980670913355425e-05, + -2.9410301971566355e-10, + 0.04885215312242508, + -1.0499967174837366e-05, + 0.00016051824786700308, + 0.03255509212613106, + -0.00012813352805096656, + 0.00010682823631213978, + 0.016301708295941353, + -1.486082692281343e-05, + 8.486515071126632e-06, + 0.047916777431964874, + -0.0012968898518010974, + 0.0011586887994781137, + 0.03209608420729637, + -0.00035007199039682746, + 0.0013452998828142881, + 0.016220573335886, + 1.657785651332233e-05, + -4.0892311403695203e-07, + 0.04883994907140732, + 5.4245687351794913e-05, + 0.0003220773651264608, + 0.03251110762357712, + 4.989275839761831e-05, + 0.0003316246729809791, + 0.016271185129880905, + 1.784020241757389e-05, + -5.544829036807641e-06, + 0.023802751675248146, + 0.06564407050609589, + -0.03329082950949669, + -0.00032354079303331673, + 0.0014709348324686289, + -0.02535378746688366, + -0.00012812789645977318, + 0.0003956577565986663, + -0.03264986723661423 + ], + "wrist_pos": [ + 0.15789486467838287, + 0.06646646559238434, + 0.6940505504608154 + ], + "wrist_rot": [ + -0.5000097155570984, + 0.49999314546585083, + 0.49999842047691345, + 0.49999868869781494 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 17, + "virtual_xyz": [ + 0.16079628467559814, + 0.06646668910980225, + 0.6940504908561707 + ], + "wrist_rpy": [ + -1.570803165435791, + -1.8633261788636446e-05, + 1.5707789659500122 + ], + "finger_dofs": [ + 0.054210737347602844, + -1.559371594339609e-05, + -1.7592721633263864e-05, + 0.036137066781520844, + -6.049662260920741e-06, + -0.0001283533638343215, + 0.018115080893039703, + 2.047912494163029e-05, + -2.320191816451711e-10, + 0.054212018847465515, + -1.1461332178441808e-05, + 0.00016719345876481384, + 0.03611433506011963, + -0.00013299868442118168, + 0.0001110390221583657, + 0.018091553822159767, + -1.5107721992535517e-05, + 8.841264389047865e-06, + 0.05318077281117439, + -0.0014082328416407108, + 0.0012045861221849918, + 0.03561186045408249, + -0.0003481307066977024, + 0.001425726106390357, + 0.017994169145822525, + 1.7713853594614193e-05, + -6.153286449261941e-07, + 0.0541926845908165, + 5.756457903771661e-05, + 0.00033474573865532875, + 0.03606012091040611, + 6.100296013755724e-05, + 0.0003444541653152555, + 0.01805654540657997, + 1.901007635751739e-05, + -5.572089776251232e-06, + 0.026411836966872215, + 0.07284442335367203, + -0.03688836470246315, + -0.0003451058582868427, + 0.0015388556057587266, + -0.02806999161839485, + -0.000139001349452883, + 0.0004075609613209963, + -0.03623141348361969 + ], + "wrist_pos": [ + 0.1607964038848877, + 0.06646666675806046, + 0.6940504312515259 + ], + "wrist_rot": [ + -0.5000104904174805, + 0.4999927580356598, + 0.4999985992908478, + 0.4999980926513672 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 18, + "virtual_xyz": [ + 0.16379941999912262, + 0.06646687537431717, + 0.6940504908561707 + ], + "wrist_rpy": [ + -1.5708038806915283, + -2.0572077119140886e-05, + 1.570778727531433 + ], + "finger_dofs": [ + 0.05976511538028717, + -1.3198596207075752e-05, + -1.8897333575296216e-05, + 0.039832595735788345, + -9.241562111128587e-06, + -0.0001339357258984819, + 0.019970716908574104, + 2.095386662404053e-05, + -4.321262792039704e-10, + 0.05976606160402298, + -1.2380453881633002e-05, + 0.00017319594917353243, + 0.03980148956179619, + -0.00013721807044930756, + 0.00011444773554103449, + 0.019946392625570297, + -1.5222220099531114e-05, + 9.198450243275147e-06, + 0.0586341954767704, + -0.0015152257401496172, + 0.0012466278858482838, + 0.039252180606126785, + -0.0003423407324589789, + 0.0014996088575571775, + 0.01983078196644783, + 1.8838656615116633e-05, + -7.996081308192515e-07, + 0.05973882973194122, + 6.087265137466602e-05, + 0.00034615639015100896, + 0.03973609209060669, + 7.292259397218004e-05, + 0.00035576013033278286, + 0.01990661211311817, + 2.014739038713742e-05, + -5.540381152968621e-06, + 0.029114097356796265, + 0.08030644804239273, + -0.04061301425099373, + -0.0003668772696983069, + 0.0015996767906472087, + -0.030880913138389587, + -0.0001498951605753973, + 0.0004180637770332396, + -0.039942704141139984 + ], + "wrist_pos": [ + 0.16379953920841217, + 0.06646685302257538, + 0.6940504312515259 + ], + "wrist_rot": [ + -0.5000112056732178, + 0.49999237060546875, + 0.4999988079071045, + 0.4999975562095642 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 19, + "virtual_xyz": [ + 0.1668972373008728, + 0.0664670541882515, + 0.6940504908561707 + ], + "wrist_rpy": [ + -1.5708041191101074, + -2.2595597329200245e-05, + 1.5707783699035645 + ], + "finger_dofs": [ + 0.0655006393790245, + -1.0448522516526282e-05, + -2.0213594325468875e-05, + 0.04364819824695587, + -1.2739039448206313e-05, + -0.00013928129919804633, + 0.02188688889145851, + 2.134785427188035e-05, + -3.2966884777607675e-10, + 0.06550120562314987, + -1.331026760453824e-05, + 0.00017878969083540142, + 0.04360795393586159, + -0.00014105858281254768, + 0.00011752393038477749, + 0.021861832588911057, + -1.5259616702678613e-05, + 9.535469871480018e-06, + 0.06426508724689484, + -0.0016187545843422413, + 0.0012856080429628491, + 0.0430091992020607, + -0.0003321668482385576, + 0.001568172825500369, + 0.02172635868191719, + 1.9964436432928778e-05, + -9.920012189468252e-07, + 0.06546545773744583, + 6.41981023363769e-05, + 0.00035666051553562284, + 0.04353062063455582, + 8.563033043174073e-05, + 0.0003660797083284706, + 0.021817026659846306, + 2.127528023265768e-05, + -5.477181275637122e-06, + 0.031903259456157684, + 0.08801249414682388, + -0.04445607215166092, + -0.00038901687366887927, + 0.0016531676519662142, + -0.03377985581755638, + -0.0001607603917364031, + 0.0004271698708180338, + -0.043775033205747604 + ], + "wrist_pos": [ + 0.16689735651016235, + 0.0664670318365097, + 0.6940504312515259 + ], + "wrist_rot": [ + -0.5000118613243103, + 0.49999168515205383, + 0.4999992251396179, + 0.4999971389770508 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 20, + "virtual_xyz": [ + 0.170082688331604, + 0.06646724045276642, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.570804476737976, + -2.4686078177182935e-05, + 1.570778250694275 + ], + "finger_dofs": [ + 0.0714043527841568, + -7.348504368565045e-06, + -2.1357915102271363e-05, + 0.04757513105869293, + -1.6620942915324122e-05, + -0.00014409022696781904, + 0.023859204724431038, + 2.1616076992359012e-05, + -2.854180225497771e-10, + 0.07140441238880157, + -1.429078656656202e-05, + 0.00018408478354103863, + 0.047525063157081604, + -0.00014465057756751776, + 0.00012054595572408289, + 0.023833487182855606, + -1.5249456737365108e-05, + 9.835291166382376e-06, + 0.07006514072418213, + -0.001701100030913949, + 0.001321680610999465, + 0.046878598630428314, + -0.00031843860051594675, + 0.0016334907850250602, + 0.023677963763475418, + 2.1060926883365028e-05, + -1.2141449587943498e-06, + 0.07135942578315735, + 6.76187191857025e-05, + 0.00036630735849030316, + 0.04743506386876106, + 9.909547225106508e-05, + 0.00037572052679024637, + 0.023783355951309204, + 2.2410704332287423e-05, + -5.416429303295445e-06, + 0.03477340191602707, + 0.09594476968050003, + -0.04840868338942528, + -0.0004115091869607568, + 0.0016988887218758464, + -0.036759939044713974, + -0.00017153173394035548, + 0.00043476157588884234, + -0.04771966487169266 + ], + "wrist_pos": [ + 0.17008280754089355, + 0.06646721810102463, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000124573707581, + 0.49999135732650757, + 0.4999995827674866, + 0.499996542930603 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 21, + "virtual_xyz": [ + 0.1733487993478775, + 0.06646739691495895, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708045959472656, + -2.6814057491719723e-05, + 1.5707780122756958 + ], + "finger_dofs": [ + 0.07746317982673645, + -3.991769517597277e-06, + -2.270127515657805e-05, + 0.0516049899160862, + -2.0626879631890915e-05, + -0.00014886345888953656, + 0.025883322581648827, + 2.1842577552888542e-05, + -3.599201769954874e-10, + 0.07746275514364243, + -1.5243698726408184e-05, + 0.000188814738066867, + 0.05154446139931679, + -0.0001477034529671073, + 0.0001229660992976278, + 0.02585701085627079, + -1.514032464910997e-05, + 1.0131957424164284e-05, + 0.076027512550354, + -0.001706446404568851, + 0.001354315085336566, + 0.05085344985127449, + -0.0003030947991646826, + 0.0016937144100666046, + 0.025682179257273674, + 2.2112028091214597e-05, + -1.41068574066594e-06, + 0.07740779966115952, + 7.106079283403233e-05, + 0.0003748080343939364, + 0.05144127458333969, + 0.00011310830450383946, + 0.00038418234908021986, + 0.025801310315728188, + 2.3532840714324266e-05, + -5.34733226231765e-06, + 0.03771848604083061, + 0.10408597439527512, + -0.05246245861053467, + -0.0004340432060416788, + 0.0017378132324665785, + -0.03981515392661095, + -0.00018216441094409674, + 0.00044107469148002565, + -0.051767848432064056 + ], + "wrist_pos": [ + 0.17334891855716705, + 0.06646737456321716, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000130534172058, + 0.49999070167541504, + 0.5000000596046448, + 0.49999603629112244 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 22, + "virtual_xyz": [ + 0.1766885668039322, + 0.06646754592657089, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708048343658447, + -2.9012835511821322e-05, + 1.5707778930664062 + ], + "finger_dofs": [ + 0.08366405963897705, + -3.76156634729341e-07, + -2.4078970454866067e-05, + 0.0557289682328701, + -2.4871083951438777e-05, + -0.00015335631906054914, + 0.027954861521720886, + 2.1990186723996885e-05, + -5.155159632508344e-10, + 0.08366306126117706, + -1.619764225324616e-05, + 0.00019308392074890435, + 0.05565735325217247, + -0.0001503675157437101, + 0.0001250235945917666, + 0.027928050607442856, + -1.4962033674237318e-05, + 1.041053474182263e-05, + 0.08212694525718689, + -0.0017100981203839183, + 0.001386440941132605, + 0.05492085963487625, + -0.00028354141977615654, + 0.0017258544685319066, + 0.027732251212000847, + 2.3217562556965277e-05, + -1.6031171981012449e-06, + 0.08359772711992264, + 7.450187695212662e-05, + 0.00038231629878282547, + 0.05554025620222092, + 0.00012767023872584105, + 0.00039154256228357553, + 0.027866603806614876, + 2.461540680087637e-05, + -5.239548954705242e-06, + 0.040732234716415405, + 0.11241813004016876, + -0.05660853907465935, + -0.0004567423602566123, + 0.0017697069561108947, + -0.04293877258896828, + -0.0001926514523802325, + 0.0004460419877432287, + -0.05591083690524101 + ], + "wrist_pos": [ + 0.17668868601322174, + 0.0664675235748291, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000137686729431, + 0.49999022483825684, + 0.500000536441803, + 0.4999954104423523 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 23, + "virtual_xyz": [ + 0.18009500205516815, + 0.06646768003702164, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708050727844238, + -3.1230985769070685e-05, + 1.5707778930664062 + ], + "finger_dofs": [ + 0.08999399840831757, + 3.4931927075376734e-06, + -2.5482284399913624e-05, + 0.05993850529193878, + -2.929107540694531e-05, + -0.00015760034148115665, + 0.030069468542933464, + 2.2067701138439588e-05, + -4.317521062890961e-10, + 0.08999237418174744, + -1.7135222151409835e-05, + 0.0001969040895346552, + 0.05985533818602562, + -0.00015262432862073183, + 0.0001267007610294968, + 0.030042214319109917, + -1.4714283679495566e-05, + 1.0670042684068903e-05, + 0.08835282921791077, + -0.0017080086981877685, + 0.0014151915675029159, + 0.05907300487160683, + -0.0002611546660773456, + 0.0017220715526491404, + 0.02982502616941929, + 2.425065031275153e-05, + -1.790951728253276e-06, + 0.08991623669862747, + 7.793591066729277e-05, + 0.000388805172406137, + 0.059723831713199615, + 0.0001426614762749523, + 0.0003979299799539149, + 0.029974861070513725, + 2.567163210187573e-05, + -5.1227602853032295e-06, + 0.04381054639816284, + 0.12092360854148865, + -0.06083827465772629, + -0.00047823344357311726, + 0.001783763407729566, + -0.046124234795570374, + -0.0002026270522037521, + 0.000449702754849568, + -0.06013992428779602 + ], + "wrist_pos": [ + 0.1800951212644577, + 0.06646765768527985, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000143647193909, + 0.49998974800109863, + 0.5000010132789612, + 0.4999947249889374 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 24, + "virtual_xyz": [ + 0.18356111645698547, + 0.06646782159805298, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708047151565552, + -3.346437733853236e-05, + 1.5707776546478271 + ], + "finger_dofs": [ + 0.09644005447626114, + 7.6117407843412366e-06, + -2.6783523935591802e-05, + 0.06422501802444458, + -3.391142308828421e-05, + -0.00016142318781930953, + 0.03222275897860527, + 2.205436430813279e-05, + -4.996413283109291e-10, + 0.09643767029047012, + -1.8083062968798913e-05, + 0.000200368813239038, + 0.06412988156080246, + -0.00015457191329915076, + 0.00012819835683330894, + 0.03219513222575188, + -1.4418446880881675e-05, + 1.0897231732087675e-05, + 0.09468784183263779, + -0.00170744932256639, + 0.0014390475116670132, + 0.06329278647899628, + -0.0002359919308219105, + 0.001720615429803729, + 0.03195400536060333, + 2.5349503630422987e-05, + -1.9864123714796733e-06, + 0.09635043889284134, + 8.135903044603765e-05, + 0.00039458388346247375, + 0.0639835000038147, + 0.00015798512322362512, + 0.0004032266733702272, + 0.032121822237968445, + 2.667869375727605e-05, + -4.964889740222134e-06, + 0.04694504290819168, + 0.1295860856771469, + -0.0651431456208229, + -0.0004970401059836149, + 0.0017838494386523962, + -0.04936511814594269, + -0.0002101010613841936, + 0.0004522921808529645, + -0.06444632261991501 + ], + "wrist_pos": [ + 0.18356123566627502, + 0.06646779924631119, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000149607658386, + 0.49998903274536133, + 0.5000016093254089, + 0.4999943673610687 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 25, + "virtual_xyz": [ + 0.18707992136478424, + 0.06646793335676193, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.570804476737976, + -3.571329216356389e-05, + 1.5707775354385376 + ], + "finger_dofs": [ + 0.10298921167850494, + 1.1918242307729088e-05, + -2.8146590921096504e-05, + 0.0685800313949585, + -3.861936420435086e-05, + -0.00016503316874150187, + 0.03441037982702255, + 2.1984358681947924e-05, + -5.712603168284147e-10, + 0.10298603028059006, + -1.9013423298019916e-05, + 0.0002033438067883253, + 0.06847245246171951, + -0.0001561115204822272, + 0.0001292806991841644, + 0.03438248112797737, + -1.4059729437576607e-05, + 1.1106440069852397e-05, + 0.10112453997135162, + -0.001708806143142283, + 0.001460707513615489, + 0.06757982820272446, + -0.00020909117301926017, + 0.001720692845992744, + 0.03411638364195824, + 2.6433071980136447e-05, + -2.167889078918961e-06, + 0.1028873473405838, + 8.474817150272429e-05, + 0.00039938115514814854, + 0.06831095367670059, + 0.00017349864356219769, + 0.00040745321894064546, + 0.034303124994039536, + 2.763602969935164e-05, + -4.791313585883472e-06, + 0.05013081803917885, + 0.13838572800159454, + -0.06951447576284409, + -0.0005166855989955366, + 0.001783939078450203, + -0.052655160427093506, + -0.00021829774777870625, + 0.00045366768608801067, + -0.06882138550281525 + ], + "wrist_pos": [ + 0.18708005547523499, + 0.06646791100502014, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000154376029968, + 0.4999883770942688, + 0.5000022649765015, + 0.49999386072158813 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 26, + "virtual_xyz": [ + 0.19064445793628693, + 0.06646806001663208, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708043575286865, + -3.797996760113165e-05, + 1.5707776546478271 + ], + "finger_dofs": [ + 0.10962831228971481, + 1.6350028090528212e-05, + -2.9453240131260827e-05, + 0.07299470901489258, + -4.346518835518509e-05, + -0.00016822782345116138, + 0.03662795200943947, + 2.1832949641975574e-05, + -5.834326910481025e-10, + 0.10962437093257904, + -1.9958315533585846e-05, + 0.00020593457156792283, + 0.07287448644638062, + -0.00015735323540866375, + 0.00013014336582273245, + 0.036599863320589066, + -1.3659548130817711e-05, + 1.1293336683593225e-05, + 0.10765266418457031, + -0.0017108928877860308, + 0.0014797389740124345, + 0.07192844152450562, + -0.00018258967611473054, + 0.0017213841201737523, + 0.03630886971950531, + 2.7447933462099172e-05, + -2.3380437141895527e-06, + 0.10951404273509979, + 8.80655279615894e-05, + 0.00040328141767531633, + 0.07269756495952606, + 0.0001891723513836041, + 0.00041087649879045784, + 0.03651442751288414, + 2.8553356969496235e-05, + -4.612077191268327e-06, + 0.05336122587323189, + 0.14730510115623474, + -0.07394347339868546, + -0.0005372918676584959, + 0.0017840045038610697, + -0.055987648665905, + -0.0002269426331622526, + 0.0004538153880275786, + -0.07325632870197296 + ], + "wrist_pos": [ + 0.19064456224441528, + 0.06646803766489029, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000160336494446, + 0.49998781085014343, + 0.5000028014183044, + 0.49999329447746277 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 27, + "virtual_xyz": [ + 0.19424766302108765, + 0.06646815687417984, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708038806915283, + -4.022057692054659e-05, + 1.5707781314849854 + ], + "finger_dofs": [ + 0.11634449660778046, + 2.090279849653598e-05, + -3.078191730310209e-05, + 0.07746070623397827, + -4.834165156353265e-05, + -0.0001711700315354392, + 0.03887113928794861, + 2.162873170163948e-05, + -5.005512115907607e-10, + 0.11633967608213425, + -2.0861049051745795e-05, + 0.0002080457634292543, + 0.07732762396335602, + -0.0001581985707161948, + 0.00013059198681730777, + 0.03884289786219597, + -1.320456613029819e-05, + 1.1459222150733694e-05, + 0.11425931006669998, + -0.0017131856875494123, + 0.0014952538767829537, + 0.07633063197135925, + -0.0001542338723083958, + 0.0017221717862412333, + 0.03852756693959236, + 2.838770524249412e-05, + -2.4896712602640036e-06, + 0.11621774733066559, + 9.127186785917729e-05, + 0.0004061794315930456, + 0.07713524997234344, + 0.0002047870511887595, + 0.000413230067351833, + 0.038751423358917236, + 2.9405382520053536e-05, + -4.422907750267768e-06, + 0.056630466133356094, + 0.1563267558813095, + -0.07842143625020981, + -0.0005581153091043234, + 0.0017840529326349497, + -0.05935600399971008, + -0.00023547711316496134, + 0.00045279363985173404, + -0.07774239778518677 + ], + "wrist_pos": [ + 0.1942477822303772, + 0.06646813452243805, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000162720680237, + 0.49998730421066284, + 0.5000036358833313, + 0.4999927282333374 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 28, + "virtual_xyz": [ + 0.19788259267807007, + 0.0664682388305664, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708034038543701, + -4.243887815391645e-05, + 1.5707783699035645 + ], + "finger_dofs": [ + 0.12312469631433487, + 2.5546147298882715e-05, + -3.208708585589193e-05, + 0.08196929842233658, + -5.3255196689860895e-05, + -0.00017375737661495805, + 0.04113553836941719, + 2.1361043764045462e-05, + -7.612874219908861e-10, + 0.12311903387308121, + -2.1742129320045933e-05, + 0.0002097264805343002, + 0.08182325959205627, + -0.00015870112110860646, + 0.00013075450260657817, + 0.041107241064310074, + -1.2710183909803163e-05, + 1.1602538506849669e-05, + 0.12092962861061096, + -0.001715299440547824, + 0.0015072551323100924, + 0.0807751789689064, + -0.0001239892590092495, + 0.001722752582281828, + 0.04076746478676796, + 2.926526212831959e-05, + -2.625764636832173e-06, + 0.12298537790775299, + 9.44100393098779e-05, + 0.0004081731603946537, + 0.08161531388759613, + 0.00022030035324860364, + 0.0004146366845816374, + 0.04100978747010231, + 3.019398900505621e-05, + -4.219860329612857e-06, + 0.05993207171559334, + 0.16543306410312653, + -0.08293980360031128, + -0.0005794907337985933, + 0.0017840872751548886, + -0.062753826379776, + -0.0002439600066281855, + 0.00045066841994412243, + -0.08227092772722244 + ], + "wrist_pos": [ + 0.19788271188735962, + 0.06646821647882462, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000166296958923, + 0.49998655915260315, + 0.5000043511390686, + 0.49999234080314636 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 29, + "virtual_xyz": [ + 0.20154224336147308, + 0.06646831333637238, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.570802927017212, + -4.461842036107555e-05, + 1.5707786083221436 + ], + "finger_dofs": [ + 0.12995590269565582, + 3.0256980608101003e-05, + -3.3433410862926394e-05, + 0.08651195466518402, + -5.8109431847697124e-05, + -0.0001761153107509017, + 0.043416790664196014, + 2.1052384909125976e-05, + -3.420470295889544e-10, + 0.12994931638240814, + -2.2554359020432457e-05, + 0.0002109213819494471, + 0.08635291457176208, + -0.00015881465515121818, + 0.00013050199777353555, + 0.04338853806257248, + -1.217290719068842e-05, + 1.172912470792653e-05, + 0.12765173614025116, + -0.0017174097010865808, + 0.0015157213201746345, + 0.08525355905294418, + -9.242680243914947e-05, + 0.0017232181271538138, + 0.0430242158472538, + 3.0072091249166988e-05, + -2.737266186159104e-06, + 0.12980405986309052, + 9.746513387653977e-05, + 0.0004092204035259783, + 0.08612942695617676, + 0.00023552277707494795, + 0.0004149603773839772, + 0.04328519105911255, + 3.090225436608307e-05, + -4.003817593911663e-06, + 0.06326082348823547, + 0.17460593581199646, + -0.0874900221824646, + -0.0006010559154674411, + 0.001784113934263587, + -0.06617478281259537, + -0.0002525889140088111, + 0.00044753123074769974, + -0.08683313429355621 + ], + "wrist_pos": [ + 0.20154234766960144, + 0.06646829098463058, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000170469284058, + 0.49998602271080017, + 0.5000051259994507, + 0.4999917149543762 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 30, + "virtual_xyz": [ + 0.20521964132785797, + 0.06646837294101715, + 0.6940504312515259 + ], + "wrist_rpy": [ + -1.5708023309707642, + -4.6733148337807506e-05, + 1.570778727531433 + ], + "finger_dofs": [ + 0.13682526350021362, + 3.4935965231852606e-05, + -3.458078936091624e-05, + 0.09108009934425354, + -6.29531205049716e-05, + -0.00017788216064218432, + 0.045710545033216476, + 2.0659925212385133e-05, + -5.77740022489337e-10, + 0.13681770861148834, + -2.342631523788441e-05, + 0.00021180974727030843, + 0.09090830385684967, + -0.00015871584764681756, + 0.0001302183954976499, + 0.045682381838560104, + -1.1621598787314724e-05, + 1.1819558494607918e-05, + 0.13441431522369385, + -0.0017195487162098289, + 0.0015211288118734956, + 0.08975803107023239, + -6.011833465890959e-05, + 0.0017235814593732357, + 0.04529362916946411, + 3.0830535251880065e-05, + -2.8469985409174114e-06, + 0.13666103780269623, + 0.00010028859105659649, + 0.0004095355689059943, + 0.09066954255104065, + 0.00025042827473953366, + 0.0004145898565184325, + 0.04557333141565323, + 3.15533579851035e-05, + -3.796206101469579e-06, + 0.06661151349544525, + 0.1838270127773285, + -0.09206339716911316, + -0.0006225784309208393, + 0.0017841545632109046, + -0.06961212307214737, + -0.00026148685719817877, + 0.0004432789282873273, + -0.09142031520605087 + ], + "wrist_pos": [ + 0.20521974563598633, + 0.06646835058927536, + 0.6940503716468811 + ], + "wrist_rot": [ + -0.5000172853469849, + 0.49998533725738525, + 0.5000057816505432, + 0.49999144673347473 + ], + "joint_positions": [ + 5.333796515571976e-09, + 0.00018065555195789784 + ] + }, + { + "phase": "approach", + "step": 31, + "virtual_xyz": [ + 0.2088818997144699, + 0.0664752870798111, + 0.6940427422523499 + ], + "wrist_rpy": [ + -1.5710021257400513, + -0.001290818676352501, + 1.5705549716949463 + ], + "finger_dofs": [ + 0.1443091779947281, + -0.00017693734844215214, + -0.0001851139822974801, + 0.09613727033138275, + 9.258146747015417e-05, + -0.0003880373842548579, + 0.04803287237882614, + 4.945598993799649e-05, + -1.6571492622574624e-08, + 0.18082092702388763, + 0.0021560846362262964, + -0.03234364837408066, + 0.16051998734474182, + 0.002110928762704134, + -0.002532249316573143, + 0.052473340183496475, + 0.0014143075095489621, + 3.290560925961472e-05, + 0.1450505256652832, + -0.0018125282367691398, + 0.0023850491270422935, + 0.09101655334234238, + 0.0018031141953542829, + 0.0008577464031986892, + 0.048500798642635345, + -0.0007030799170024693, + 0.0003713840269483626, + 0.14729204773902893, + -0.0005468605668283999, + 0.0010506338439881802, + 0.09131506830453873, + 0.0010584781412035227, + -0.00026578200049698353, + 0.049444399774074554, + -0.0004313284589443356, + 0.00021190028928685933, + 0.07080354541540146, + 0.19286474585533142, + -0.09587868303060532, + -0.0004488983831834048, + 0.0017946043517440557, + -0.0741538256406784, + -0.0006497474387288094, + 0.00010290234786225483, + -0.09538263827562332 + ], + "wrist_pos": [ + 0.20888201892375946, + 0.0664752647280693, + 0.6940426826477051 + ], + "wrist_rot": [ + -0.5004341006278992, + 0.49966827034950256, + 0.5002108812332153, + 0.49968618154525757 + ], + "joint_positions": [ + 5.333796515571976e-09, + -1.070213251352925e-09 + ] + }, + { + "phase": "approach", + "step": 32, + "virtual_xyz": [ + 0.21256910264492035, + 0.0664820447564125, + 0.6940409541130066 + ], + "wrist_rpy": [ + -1.5712475776672363, + -0.00226399814710021, + 1.570292592048645 + ], + "finger_dofs": [ + 0.151730015873909, + -0.0003056777932215482, + -0.00023498338123317808, + 0.10115092992782593, + 0.00020471859897952527, + -0.00043043502955697477, + 0.05035054683685303, + 5.6142613175325096e-05, + -5.333996355716408e-08, + 0.2149592489004135, + 0.0028490221593528986, + -0.05516958609223366, + 0.25905388593673706, + 0.0016987917479127645, + -0.003667615121230483, + 0.06329340487718582, + 0.001817164826206863, + 3.330251274746843e-05, + 0.15518906712532043, + -0.0018466266337782145, + 0.002747586229816079, + 0.09352060407400131, + 0.00183034164365381, + -0.0003781207196880132, + 0.05151757597923279, + -0.0012699572835117579, + 0.0007801690371707082, + 0.1567685902118683, + -0.000991577166132629, + 0.0015316562494263053, + 0.0933363065123558, + 0.0015034070238471031, + -0.0008928062743507326, + 0.05297130346298218, + -0.000797692802734673, + 0.00036173660191707313, + 0.07523974776268005, + 0.2014455944299698, + -0.09960725158452988, + -0.00034155556932091713, + 0.0017251018434762955, + -0.07791877537965775, + -0.0008983115549199283, + -0.00029333389829844236, + -0.0995895266532898 + ], + "wrist_pos": [ + 0.2125692367553711, + 0.06648202240467072, + 0.6940408945083618 + ], + "wrist_rot": [ + -0.5008039474487305, + 0.4994203448295593, + 0.5003272294998169, + 0.49944689869880676 + ], + "joint_positions": [ + 5.333796515571976e-09, + -1.219329304191774e-09 + ] + }, + { + "phase": "approach", + "step": 33, + "virtual_xyz": [ + 0.21623535454273224, + 0.06648903340101242, + 0.694036066532135 + ], + "wrist_rpy": [ + -1.570776104927063, + -0.0040293592028319836, + 1.5705749988555908 + ], + "finger_dofs": [ + 0.18826796114444733, + -0.0004999394295737147, + -0.006041120737791061, + 0.16136586666107178, + 0.0025545209646224976, + 0.002752183470875025, + 0.05257616192102432, + -0.0018465907778590918, + 6.309942932603008e-07, + 0.235735684633255, + 0.0034425545018166304, + -0.06405721604824066, + 0.3556780517101288, + 0.0005439852830022573, + -0.003956923261284828, + 0.07482509315013885, + 0.0015708841383457184, + -0.0006091927061788738, + 0.16477997601032257, + -0.0018639776390045881, + 0.0015992718981578946, + 0.09450425207614899, + 0.0018552026012912393, + 0.0015868786722421646, + 0.05436493083834648, + -0.001769527094438672, + 0.0003909848746843636, + 0.16766197979450226, + -0.0011007016291841865, + 0.00044668721966445446, + 0.09371857345104218, + 0.0017887813737615943, + 0.0005769335548393428, + 0.056766774505376816, + -0.0012436604592949152, + -6.79118384141475e-05, + 0.07993908226490021, + 0.21206098794937134, + -0.1048981100320816, + -0.001036906149238348, + 0.0016829841770231724, + -0.08181549608707428, + -0.000991113018244505, + -9.74258073256351e-05, + -0.10406892746686935 + ], + "wrist_pos": [ + 0.2162354737520218, + 0.06648901104927063, + 0.6940360069274902 + ], + "wrist_rot": [ + -0.501056432723999, + 0.4989311099052429, + 0.500956118106842, + 0.4990521967411041 + ], + "joint_positions": [ + 5.333796515571976e-09, + -2.1869728250578646e-09 + ] + }, + { + "phase": "approach", + "step": 34, + "virtual_xyz": [ + 0.21987909078598022, + 0.06653997302055359, + 0.6940214037895203 + ], + "wrist_rpy": [ + -1.5703458786010742, + -0.007342405617237091, + 1.571183443069458 + ], + "finger_dofs": [ + 0.22835151851177216, + -0.0021227628458291292, + -0.009834269061684608, + 0.2585122883319855, + 0.003187017049640417, + 0.003098817775025964, + 0.05612461268901825, + -0.0018640065100044012, + 2.8776414637832204e-06, + 0.2623353898525238, + 0.004430065862834454, + -0.07811299711465836, + 0.419437438249588, + 0.0013593939365819097, + -0.0032355019357055426, + 0.07906114310026169, + 0.00025640835519880056, + -0.0009656214970164001, + 0.18909327685832977, + -0.00200646067969501, + -0.004375919234007597, + 0.09682242572307587, + 0.0019932829309254885, + -0.0009480969165451825, + 0.059727542102336884, + -0.0018339070957154036, + 0.00013726772158406675, + 0.18520799279212952, + -0.0018316576024517417, + -0.002086861524730921, + 0.09189904481172562, + 0.0018434470985084772, + -2.2052105123293586e-05, + 0.06301017105579376, + -0.0018026650650426745, + -0.0005001355893909931, + 0.09270139783620834, + 0.21823808550834656, + -0.10771018266677856, + 0.0005205653142184019, + -0.0011462299153208733, + -0.0832761824131012, + -0.0006292205071076751, + -0.0015045504551380873, + -0.10809069871902466 + ], + "wrist_pos": [ + 0.21987920999526978, + 0.0665399506688118, + 0.6940213441848755 + ], + "wrist_rot": [ + -0.5016236901283264, + 0.49814507365226746, + 0.5020406246185303, + 0.4981769323348999 + ], + "joint_positions": [ + 5.333796515571976e-09, + -3.2801026339512873e-09 + ] + }, + { + "phase": "approach", + "step": 35, + "virtual_xyz": [ + 0.22351402044296265, + 0.06660961359739304, + 0.6940203905105591 + ], + "wrist_rpy": [ + -1.569216012954712, + -0.01168136578053236, + 1.571839451789856 + ], + "finger_dofs": [ + 0.26169702410697937, + -0.0033705770038068295, + -0.012017964385449886, + 0.3147689402103424, + 0.0024973368272185326, + 0.006109623704105616, + 0.05546410009264946, + -0.002124673454090953, + 6.454109552578302e-06, + 0.2790839374065399, + 0.006479191593825817, + -0.0873396247625351, + 0.5234894752502441, + 0.0009693214087747037, + -0.004278900101780891, + 0.0907340943813324, + -0.0016520245699211955, + -0.0010824122000485659, + 0.21171164512634277, + -0.001977241598069668, + -0.009436879307031631, + 0.09940917789936066, + 0.001996226841583848, + 0.0004377522272989154, + 0.06493905931711197, + -0.0018402183195576072, + -0.0003601611533667892, + 0.208440899848938, + -0.0008486518636345863, + -0.012287696823477745, + 0.10190523415803909, + -0.0007526013650931418, + -0.0020160884596407413, + 0.07266078889369965, + -0.0018458578269928694, + -0.0009925528429448605, + 0.10410643368959427, + 0.22682014107704163, + -0.11119525879621506, + 0.001346113975159824, + -0.0016908029792830348, + -0.08664169907569885, + -0.0004342560423538089, + -0.0016916345339268446, + -0.11160320043563843 + ], + "wrist_pos": [ + 0.2235141396522522, + 0.06660959124565125, + 0.6940203309059143 + ], + "wrist_rot": [ + -0.5022597908973694, + 0.49693563580513, + 0.5035637021064758, + 0.49720585346221924 + ], + "joint_positions": [ + 5.333796515571976e-09, + -4.075130455305498e-09 + ] + }, + { + "phase": "approach", + "step": 36, + "virtual_xyz": [ + 0.22714753448963165, + 0.06662581115961075, + 0.6940246224403381 + ], + "wrist_rpy": [ + -1.5685908794403076, + -0.014664393849670887, + 1.5722121000289917 + ], + "finger_dofs": [ + 0.28897544741630554, + 0.0023794875014573336, + -0.008748823776841164, + 0.3975622057914734, + 0.00947949942201376, + 0.0035299474839121103, + 0.06468784809112549, + -0.0018604592187330127, + 8.720251571503468e-06, + 0.2907888889312744, + 0.00952140986919403, + -0.08770431578159332, + 0.6075702905654907, + 0.0046056462451815605, + -0.004645878449082375, + 0.08301161229610443, + -0.0017924198182299733, + -0.0009146154625341296, + 0.22363200783729553, + -0.0020273455884307623, + -0.010679340921342373, + 0.10232832282781601, + 0.002039866056293249, + 0.0005149378557689488, + 0.0682407096028328, + -0.0018540315795689821, + -0.0005949675687588751, + 0.24262379109859467, + 0.0019826239440590143, + -0.04312456026673317, + 0.17155814170837402, + -0.0026263294275850058, + -0.0027929386124014854, + 0.0952238067984581, + -0.001964817987754941, + -0.0013387379003688693, + 0.10958231985569, + 0.23641709983348846, + -0.1157895177602768, + 0.0003228937857784331, + -0.0015363774728029966, + -0.0904453843832016, + -0.0004834315914195031, + -0.0015596947632730007, + -0.11586364358663559 + ], + "wrist_pos": [ + 0.22714763879776, + 0.06662578880786896, + 0.6940245628356934 + ], + "wrist_rot": [ + -0.5027537941932678, + 0.4961206912994385, + 0.5045512318611145, + 0.49651870131492615 + ], + "joint_positions": [ + 5.333796515571976e-09, + -4.310997336887112e-09 + ] + }, + { + "phase": "approach", + "step": 37, + "virtual_xyz": [ + 0.2307545393705368, + 0.06662021577358246, + 0.6940235495567322 + ], + "wrist_rpy": [ + -1.5693660974502563, + -0.015036259777843952, + 1.5723114013671875 + ], + "finger_dofs": [ + 0.29626625776290894, + -0.002206820296123624, + 0.005999330896884203, + 0.5126002430915833, + 0.005587899591773748, + 0.002288904506713152, + 0.07361844182014465, + -0.0009079211158677936, + 8.133431947499048e-06, + 0.29785844683647156, + 0.008254753425717354, + -0.08424772322177887, + 0.6909139156341553, + -0.0015371257904917002, + -0.004044800531119108, + 0.08371953666210175, + -0.0008370273280888796, + -0.0008296797168441117, + 0.22522471845149994, + -0.0020537562668323517, + -0.008696514181792736, + 0.10696987062692642, + 0.0020454965997487307, + 0.0009763280977495015, + 0.06944742053747177, + -0.0018512974493205547, + -0.00040973781142383814, + 0.2539440393447876, + 0.002749791368842125, + -0.06845495104789734, + 0.20098409056663513, + -0.003653743304312229, + -0.002640038263052702, + 0.10205358266830444, + -0.0019489940023049712, + -0.0013024233048781753, + 0.10959035158157349, + 0.24538172781467438, + -0.12106640636920929, + -0.00017434073379263282, + -0.0006783600547350943, + -0.09411890804767609, + -0.000888734997715801, + -0.00126542616635561, + -0.12099015712738037 + ], + "wrist_pos": [ + 0.23075467348098755, + 0.06662019342184067, + 0.6940234899520874 + ], + "wrist_rot": [ + -0.5030140280723572, + 0.4962475597858429, + 0.5044755935668945, + 0.49620506167411804 + ], + "joint_positions": [ + 5.333796515571976e-09, + -4.7760075894132115e-09 + ] + }, + { + "phase": "approach", + "step": 38, + "virtual_xyz": [ + 0.2343292385339737, + 0.06662929803133011, + 0.6940284371376038 + ], + "wrist_rpy": [ + -1.5699117183685303, + -0.015512014739215374, + 1.5721460580825806 + ], + "finger_dofs": [ + 0.29756149649620056, + -0.003239382989704609, + 0.020793871954083443, + 0.5961655378341675, + 0.005314695183187723, + 0.0027455100789666176, + 0.07687319815158844, + -0.0014028807636350393, + 6.305045189947123e-06, + 0.292916476726532, + 0.010039079934358597, + -0.08250968158245087, + 0.7633923292160034, + 0.0020012161694467068, + -0.003700035158544779, + 0.10007503628730774, + -0.0018370841862633824, + -0.0007407978409901261, + 0.2296210676431656, + -0.0020519187673926353, + -0.008321516215801239, + 0.10993044823408127, + 0.0020761319901794195, + 0.0013939464697614312, + 0.07124641537666321, + -0.0018580760806798935, + -0.00043418220593594015, + 0.28882402181625366, + 0.004263896495103836, + -0.09714850783348083, + 0.2980027198791504, + -0.00607194472104311, + -0.005011099390685558, + 0.13871468603610992, + -0.0023697020951658487, + -0.0010148604633286595, + 0.1117638498544693, + 0.2540642023086548, + -0.1252892017364502, + -0.0003861399309244007, + -0.0010427344823256135, + -0.09798357635736465, + -0.0011103682918474078, + -0.0013822746695950627, + -0.12541645765304565 + ], + "wrist_pos": [ + 0.23432934284210205, + 0.06662927567958832, + 0.694028377532959 + ], + "wrist_rot": [ + -0.5033086538314819, + 0.4962238073348999, + 0.5044170022010803, + 0.49598971009254456 + ], + "joint_positions": [ + 5.333796515571976e-09, + -4.001234454875657e-09 + ] + }, + { + "phase": "approach", + "step": 39, + "virtual_xyz": [ + 0.2378498613834381, + 0.0666435956954956, + 0.6940293908119202 + ], + "wrist_rpy": [ + -1.5695868730545044, + -0.01512677688151598, + 1.572130560874939 + ], + "finger_dofs": [ + 0.29956644773483276, + -0.0039037654642015696, + 0.03213075175881386, + 0.6623528003692627, + 0.0065127182751894, + 0.0029590229969471693, + 0.0793958380818367, + -0.0017919784877449274, + 5.99584927840624e-06, + 0.3138713836669922, + 0.009078127332031727, + -0.07944318652153015, + 0.827693521976471, + 0.0023667151108384132, + -0.0032714870758354664, + 0.10437881201505661, + -0.0018441338324919343, + -0.000508298457134515, + 0.23719754815101624, + -0.002002572175115347, + -0.010384198278188705, + 0.11633510887622833, + 0.002066254150122404, + 0.00041516110650263727, + 0.07382578402757645, + -0.001860020449385047, + -0.0005602458259090781, + 0.30641868710517883, + 0.003813833463937044, + -0.09352119266986847, + 0.4059498608112335, + -0.006595055107027292, + -0.0041288211941719055, + 0.16217371821403503, + -0.00229267799295485, + -0.0006977528682909906, + 0.11721255630254745, + 0.2623089849948883, + -0.1298578530550003, + -0.0008264085045084357, + -0.001785974483937025, + -0.09941642731428146, + -0.0006062416359782219, + -0.0014128040056675673, + -0.13034109771251678 + ], + "wrist_pos": [ + 0.23784998059272766, + 0.06664357334375381, + 0.6940293312072754 + ], + "wrist_rot": [ + -0.5031362771987915, + 0.4962350130081177, + 0.5043982863426208, + 0.4961722493171692 + ], + "joint_positions": [ + 5.333796515571976e-09, + -3.824958572096193e-09 + ] + }, + { + "phase": "approach", + "step": 40, + "virtual_xyz": [ + 0.24131223559379578, + 0.06664970517158508, + 0.694031298160553 + ], + "wrist_rpy": [ + -1.5693471431732178, + -0.013617941178381443, + 1.5721982717514038 + ], + "finger_dofs": [ + 0.31679242849349976, + -0.006243523675948381, + 0.045242778956890106, + 0.7241548299789429, + 0.007321812678128481, + 0.003696706146001816, + 0.08097401261329651, + -0.0018507216591387987, + 5.733707894250983e-06, + 0.3431496024131775, + 0.0069236778654158115, + -0.07350825518369675, + 0.886812150478363, + 0.002106070751324296, + -0.002771052997559309, + 0.11154892295598984, + -0.0018350131576880813, + -0.0006255257758311927, + 0.24146930873394012, + -0.0015006990870460868, + -0.012015314772725105, + 0.12611009180545807, + 0.0019389786757528782, + -0.0001811966794775799, + 0.07582362741231918, + -0.0018310794839635491, + -0.0006640677456744015, + 0.2998887598514557, + 0.013492557220160961, + -0.10735704749822617, + 0.46840229630470276, + -0.008258520625531673, + -0.006862252950668335, + 0.15878677368164062, + -0.002601774176582694, + -0.0008001301321201026, + 0.12142135947942734, + 0.27035582065582275, + -0.13524740934371948, + -0.0016649572644382715, + -0.0018095204140990973, + -0.09940551221370697, + 0.0001513694878667593, + -0.0011250978568568826, + -0.13613508641719818 + ], + "wrist_pos": [ + 0.24131235480308533, + 0.06664968281984329, + 0.6940312385559082 + ], + "wrist_rot": [ + -0.5026848912239075, + 0.49657151103019714, + 0.5041006803512573, + 0.4965953528881073 + ], + "joint_positions": [ + 5.333796515571976e-09, + -3.961725170142927e-09 + ] + }, + { + "phase": "approach", + "step": 41, + "virtual_xyz": [ + 0.2447078675031662, + 0.06668788194656372, + 0.6940266489982605 + ], + "wrist_rpy": [ + -1.5693023204803467, + -0.012956704944372177, + 1.5723501443862915 + ], + "finger_dofs": [ + 0.348167359828949, + -0.008792538195848465, + 0.05945171043276787, + 0.7721315622329712, + 0.007757683750241995, + 0.00373644707724452, + 0.08248738944530487, + -0.001850027940236032, + 6.803828910051379e-06, + 0.3731248080730438, + 0.00528583163395524, + -0.06607890129089355, + 0.9527043700218201, + 0.002016769489273429, + -0.0023861201480031013, + 0.11792679876089096, + -0.001821180572733283, + -0.0009578056633472443, + 0.25013014674186707, + -0.0014568389160558581, + -0.013206851668655872, + 0.13262934982776642, + 0.001992994686588645, + -0.0005553839728236198, + 0.0788327157497406, + -0.0018546564970165491, + -0.0006220704526640475, + 0.31190502643585205, + 0.0166329313069582, + -0.12255759537220001, + 0.5503590703010559, + -0.01186496764421463, + -0.008507772348821163, + 0.17941489815711975, + -0.0028019375167787075, + -0.0007016019662842155, + 0.12673251330852509, + 0.2783983647823334, + -0.14050327241420746, + -0.0015700224321335554, + -0.0018493436509743333, + -0.10009266436100006, + 0.0009035669500008225, + -0.0008763406658545136, + -0.14162564277648926 + ], + "wrist_pos": [ + 0.24470798671245575, + 0.06668785959482193, + 0.6940265893936157 + ], + "wrist_rot": [ + -0.5024716258049011, + 0.4967646896839142, + 0.5039855241775513, + 0.4967349171638489 + ], + "joint_positions": [ + 5.333796515571976e-09, + -4.3715133735133804e-09 + ] + }, + { + "phase": "approach", + "step": 42, + "virtual_xyz": [ + 0.24800145626068115, + 0.06686366349458694, + 0.6939852237701416 + ], + "wrist_rpy": [ + -1.568626880645752, + -0.012412890791893005, + 1.5718168020248413 + ], + "finger_dofs": [ + 0.3853173553943634, + -0.01335354894399643, + 0.07618705183267593, + 0.8226621747016907, + 0.006834689993411303, + 0.004218158777803183, + 0.0820278748869896, + -0.0018904717871919274, + 1.0820888746820856e-05, + 0.44298437237739563, + 0.004158675204962492, + -0.05853462591767311, + 0.9552306532859802, + 0.002129378030076623, + -0.00286414148285985, + 0.11828172206878662, + -0.0018666257383301854, + -0.000810035620816052, + 0.2575681805610657, + -0.0017194031970575452, + -0.010076455771923065, + 0.13749554753303528, + 0.002032333752140403, + -0.001735604484565556, + 0.08154869079589844, + -0.0018766801804304123, + 0.0003555787552613765, + 0.3321467339992523, + 0.016035985201597214, + -0.12248264253139496, + 0.6140478849411011, + -0.012140355072915554, + -0.007762294728308916, + 0.19968192279338837, + -0.0027938259299844503, + 0.0002690315304789692, + 0.13133420050144196, + 0.2891225516796112, + -0.1457250714302063, + -0.0017545531736686826, + -0.0018471551593393087, + -0.10209745913743973, + 0.0015788254095241427, + -0.0002497796667739749, + -0.14668667316436768 + ], + "wrist_pos": [ + 0.2480015754699707, + 0.06686364114284515, + 0.6939851641654968 + ], + "wrist_rot": [ + -0.5023009777069092, + 0.4965974688529968, + 0.503885805606842, + 0.4971756339073181 + ], + "joint_positions": [ + -5.650120128708469e-12, + -7.600885254532841e-09 + ] + }, + { + "phase": "approach", + "step": 43, + "virtual_xyz": [ + 0.25121599435806274, + 0.06714417785406113, + 0.6939370632171631 + ], + "wrist_rpy": [ + -1.5677789449691772, + -0.011088047176599503, + 1.5712287425994873 + ], + "finger_dofs": [ + 0.4412018060684204, + -0.013601160608232021, + 0.08905480057001114, + 0.8373052477836609, + 0.007166823837906122, + 0.004475709050893784, + 0.08231324702501297, + -0.0019134217873215675, + 1.8324739357922226e-05, + 0.5266878008842468, + 0.002449116436764598, + -0.04909774288535118, + 0.9539996981620789, + -0.0007068514823913574, + -0.0022156676277518272, + 0.12522248923778534, + -0.0018563388148322701, + -0.001652836101129651, + 0.26215437054634094, + -0.0001694436214165762, + -0.0072415792383253574, + 0.1439417451620102, + 0.0018892167136073112, + -0.0017010924639180303, + 0.08367500454187393, + -0.001851240755058825, + 0.0011378233321011066, + 0.35984933376312256, + 0.01770132966339588, + -0.11960212141275406, + 0.6676920056343079, + -0.012149102985858917, + -0.0069701187312603, + 0.21233811974525452, + -0.0027630170807242393, + 0.0008166286861523986, + 0.13493841886520386, + 0.30014705657958984, + -0.15181022882461548, + -0.001883368706330657, + -0.0019772956147789955, + -0.10258205980062485, + 0.0018546440405771136, + 0.0009530259994789958, + -0.15248502790927887 + ], + "wrist_pos": [ + 0.2512160837650299, + 0.06714415550231934, + 0.6939370036125183 + ], + "wrist_rot": [ + -0.5019062161445618, + 0.49656957387924194, + 0.503621518611908, + 0.4978695511817932 + ], + "joint_positions": [ + -3.1498505193017223e-11, + -1.0510281533981924e-08 + ] + }, + { + "phase": "approach", + "step": 44, + "virtual_xyz": [ + 0.25432124733924866, + 0.0675448328256607, + 0.6938737630844116 + ], + "wrist_rpy": [ + -1.5655006170272827, + -0.005786533001810312, + 1.5732382535934448 + ], + "finger_dofs": [ + 0.5077195167541504, + -0.012072142213582993, + 0.09740427136421204, + 0.8458642363548279, + 0.0073465039022266865, + 0.00571009935811162, + 0.08202116191387177, + -0.0019726413302123547, + 3.0025868909433484e-05, + 0.6349225044250488, + 0.0031340434215962887, + -0.05319258198142052, + 0.8874292373657227, + 0.00263090617954731, + 0.001904221368022263, + 0.12431458383798599, + -0.0018315648194402456, + -0.0019364701583981514, + 0.2519485354423523, + 0.001899084891192615, + -0.013408001512289047, + 0.15257209539413452, + 0.0007160392124205828, + 0.002182096941396594, + 0.08245477080345154, + -0.0018075393745675683, + -0.001572265988215804, + 0.39369410276412964, + 0.017315780743956566, + -0.1272820383310318, + 0.7156895399093628, + -0.011658127419650555, + -0.005138834938406944, + 0.2135877013206482, + -0.00263111456297338, + -0.001922470866702497, + 0.15071530640125275, + 0.30196884274482727, + -0.16210095584392548, + -0.0016093653393909335, + -0.002653358969837427, + -0.08716981112957001, + 0.002031075768172741, + 0.0007217352977022529, + -0.16208428144454956 + ], + "wrist_pos": [ + 0.2543213367462158, + 0.06754481047391891, + 0.6938737034797668 + ], + "wrist_rot": [ + -0.499515175819397, + 0.49783194065093994, + 0.5033727884292603, + 0.49926310777664185 + ], + "joint_positions": [ + -1.2004891525307926e-10, + -1.5346385495718096e-08 + ] + }, + { + "phase": "approach", + "step": 45, + "virtual_xyz": [ + 0.257379412651062, + 0.06788140535354614, + 0.6938227415084839 + ], + "wrist_rpy": [ + -1.5636972188949585, + 0.003253464587032795, + 1.576959252357483 + ], + "finger_dofs": [ + 0.5919134616851807, + -0.010982668958604336, + 0.1038922667503357, + 0.8056475520133972, + 0.007208694703876972, + 0.004130018875002861, + 0.08412669599056244, + -0.0018866151804104447, + 1.3484081136994064e-05, + 0.7211682200431824, + 0.0021474279928952456, + -0.05336620286107063, + 0.8409448862075806, + 0.0025904427748173475, + 0.002499246969819069, + 0.11987772583961487, + -0.0013678933028131723, + -0.0020249763038009405, + 0.23721064627170563, + 0.002100310055539012, + -0.021147754043340683, + 0.1642046421766281, + -0.002009831601753831, + 0.0022528304252773523, + 0.08055584877729416, + -0.0011762416688725352, + -0.001877452596090734, + 0.4232160747051239, + 0.015469914302229881, + -0.14162790775299072, + 0.7613078355789185, + -0.011562365107238293, + -0.004249552730470896, + 0.2023964673280716, + -0.002448937389999628, + -0.0020119589753448963, + 0.22154884040355682, + 0.28332504630088806, + -0.17233550548553467, + 0.0029948700685054064, + -0.0025813602842390537, + -0.05967026576399803, + 0.002468073507770896, + -0.001815333147533238, + -0.17242008447647095 + ], + "wrist_pos": [ + 0.2573795020580292, + 0.06788138300180435, + 0.6938226819038391 + ], + "wrist_rot": [ + -0.4958649277687073, + 0.5005678534507751, + 0.5025067329406738, + 0.5010355114936829 + ], + "joint_positions": [ + -1.1541466393705235e-10, + -1.7924845607808493e-08 + ] + }, + { + "phase": "approach", + "step": 46, + "virtual_xyz": [ + 0.26035061478614807, + 0.06835853308439255, + 0.6937471032142639 + ], + "wrist_rpy": [ + -1.5628007650375366, + 0.011143798008561134, + 1.5790727138519287 + ], + "finger_dofs": [ + 0.6664515733718872, + -0.006655944045633078, + 0.11117903888225555, + 0.7663688659667969, + 0.00906291976571083, + 0.0036946716718375683, + 0.08995342999696732, + -0.0018366819713264704, + -5.224999040365219e-05, + 0.8041086196899414, + 0.0016104133101180196, + -0.054173633456230164, + 0.7707912921905518, + 0.0029145036824047565, + 0.0034137791953980923, + 0.11553594470024109, + -0.0010291464859619737, + -0.0021177136804908514, + 0.23088650405406952, + 0.002404401544481516, + -0.027325058355927467, + 0.1806751936674118, + -0.0022239696700125933, + 0.0024568107910454273, + 0.08000855147838593, + -8.805543620837852e-05, + -0.0019545189570635557, + 0.45045676827430725, + 0.016496090218424797, + -0.15881794691085815, + 0.8078852295875549, + -0.009474621154367924, + -0.0037433039397001266, + 0.18052291870117188, + -0.0023189333733171225, + -0.00213488913141191, + 0.25983884930610657, + 0.2906075119972229, + -0.18532980978488922, + 0.004274178296327591, + -0.0022944596130400896, + -0.04144609719514847, + 0.003052412299439311, + -0.0017644393956288695, + -0.18098710477352142 + ], + "wrist_pos": [ + 0.26035070419311523, + 0.06835851073265076, + 0.6937470436096191 + ], + "wrist_rot": [ + -0.49311563372612, + 0.5028312802314758, + 0.5012969374656677, + 0.5026917457580566 + ], + "joint_positions": [ + -1.6622495047080577e-10, + -2.1627656110467797e-08 + ] + }, + { + "phase": "approach", + "step": 47, + "virtual_xyz": [ + 0.2632400095462799, + 0.06849703937768936, + 0.6937445402145386 + ], + "wrist_rpy": [ + -1.5648415088653564, + 0.022663725540041924, + 1.5773738622665405 + ], + "finger_dofs": [ + 0.7696762084960938, + -0.00917006190866232, + 0.13157232105731964, + 0.6841487884521484, + 0.010799922980368137, + 0.004082514438778162, + 0.09233834594488144, + -0.0018636847380548716, + -0.00012800921103917062, + 0.8690517544746399, + -0.004331046715378761, + -0.04088328778743744, + 0.7443475723266602, + -0.002009372692555189, + 0.0035090299788862467, + 0.10478945821523666, + 0.001177349011413753, + -0.0021877007093280554, + 0.21150779724121094, + 0.002436454873532057, + -0.01972275786101818, + 0.19722023606300354, + -0.0024786635767668486, + 0.0020211022347211838, + 0.07932154089212418, + 0.0013598413206636906, + -0.0018006970640271902, + 0.4845348000526428, + 0.013559219427406788, + -0.1767287701368332, + 0.8245588541030884, + -0.010068570263683796, + -0.0028684495482593775, + 0.15874531865119934, + -0.0020251269452273846, + -0.002109830966219306, + 0.2773674726486206, + 0.29500052332878113, + -0.19085784256458282, + 0.005623484030365944, + -0.0019157746573910117, + -0.0243368037045002, + 0.0035772586707025766, + -0.0018386978190392256, + -0.18871518969535828 + ], + "wrist_pos": [ + 0.26324009895324707, + 0.06849701702594757, + 0.6937444806098938 + ], + "wrist_rot": [ + -0.49113354086875916, + 0.5057776570320129, + 0.4974704682826996, + 0.5054699182510376 + ], + "joint_positions": [ + -1.8167659043832884e-10, + -2.2279378342204836e-08 + ] + }, + { + "phase": "approach", + "step": 48, + "virtual_xyz": [ + 0.2660234570503235, + 0.06864601373672485, + 0.6937552094459534 + ], + "wrist_rpy": [ + -1.5668129920959473, + 0.032608404755592346, + 1.5742342472076416 + ], + "finger_dofs": [ + 0.8857436180114746, + -0.0058804661966860294, + 0.14603303372859955, + 0.5659364461898804, + 0.008602499961853027, + 0.0035114316269755363, + 0.09524606168270111, + -0.001823136699385941, + -0.00020434806356206536, + 0.9167225360870361, + -0.0050058928318321705, + -0.026773784309625626, + 0.7403327822685242, + -0.0020604608580470085, + 0.003228067886084318, + 0.10000001639127731, + 0.0018348970916122198, + -0.00212974869646132, + 0.20271696150302887, + 0.0027508996427059174, + -0.012964577414095402, + 0.21799500286579132, + -0.002725154161453247, + -0.0013500027125701308, + 0.08321559429168701, + 0.0016465752851217985, + -0.0015831120545044541, + 0.5193397402763367, + 0.013965404592454433, + -0.1845664232969284, + 0.8498396873474121, + -0.010753512382507324, + -0.002314288169145584, + 0.1485130488872528, + -0.0018905912293121219, + -0.0021395899821072817, + 0.29298135638237, + 0.2991504669189453, + -0.19255603849887848, + 0.0045809936709702015, + -0.0021528960205614567, + -0.020562659949064255, + 0.0033754066098481417, + -0.0018269144929945469, + -0.19460619986057281 + ], + "wrist_pos": [ + 0.26602354645729065, + 0.06864599138498306, + 0.6937551498413086 + ], + "wrist_rot": [ + -0.4898964762687683, + 0.5079475045204163, + 0.4936671257019043, + 0.5082160234451294 + ], + "joint_positions": [ + -2.6748100956375254e-10, + -2.2828261947438477e-08 + ] + }, + { + "phase": "approach", + "step": 49, + "virtual_xyz": [ + 0.268717497587204, + 0.0685432106256485, + 0.6937962770462036 + ], + "wrist_rpy": [ + -1.5680218935012817, + 0.04311346635222435, + 1.570705771446228 + ], + "finger_dofs": [ + 1.0120128393173218, + -0.004514882806688547, + 0.14945638179779053, + 0.39533329010009766, + 0.009819951839745045, + 0.0029857757035642862, + 0.099167600274086, + -0.001788721769116819, + -0.00024151269462890923, + 0.9583661556243896, + -0.005740690976381302, + -0.016643183305859566, + 0.7327160835266113, + -0.0020169236231595278, + 0.003404652001336217, + 0.08996646106243134, + 0.001821016543544829, + -0.0020497499499469995, + 0.19990630447864532, + 0.003483257256448269, + -0.017810579389333725, + 0.2404971569776535, + -0.002735345158725977, + -0.002538977423682809, + 0.08404655009508133, + 0.00033485188032500446, + 0.0007910521817393601, + 0.6318780779838562, + 0.010299698449671268, + -0.18019331991672516, + 0.7953429222106934, + -0.013003025203943253, + -0.002926094923168421, + 0.12412633001804352, + -0.0018549973610788584, + -0.0020977805834263563, + 0.3000725209712982, + 0.30537065863609314, + -0.19515904784202576, + 0.004403690807521343, + -0.002062269253656268, + -0.020784791558980942, + 0.003507336601614952, + 0.000830872158985585, + -0.20096804201602936 + ], + "wrist_pos": [ + 0.26871758699417114, + 0.06854318827390671, + 0.6937962174415588 + ], + "wrist_rot": [ + -0.48842036724090576, + 0.5099601745605469, + 0.4897911548614502, + 0.5113614797592163 + ], + "joint_positions": [ + -3.492382771863589e-10, + -2.0767448205560868e-08 + ] + }, + { + "phase": "approach", + "step": 50, + "virtual_xyz": [ + 0.271240234375, + 0.06852297484874725, + 0.6938323378562927 + ], + "wrist_rpy": [ + -1.5685970783233643, + 0.054809655994176865, + 1.5669726133346558 + ], + "finger_dofs": [ + 1.078343391418457, + -0.0028292261995375156, + 0.11701998859643936, + 0.35061216354370117, + 0.006057113874703646, + 0.0038947961293160915, + 0.09875675290822983, + -0.0018364384304732084, + -0.00019811477977782488, + 1.0013315677642822, + -0.004619625397026539, + -0.012152216397225857, + 0.7506734132766724, + 0.002101415768265724, + 0.0027921099681407213, + 0.0835983157157898, + 0.001865964150056243, + -0.002023824257776141, + 0.1932862102985382, + 0.0063584535382688046, + -0.028451694175601006, + 0.25827890634536743, + -0.003465037327259779, + -0.004365453962236643, + 0.06321822106838226, + -0.001021294156089425, + 0.001868739491328597, + 0.7372739315032959, + 0.006363747175782919, + -0.15808114409446716, + 0.7252806425094604, + -0.009727264754474163, + -0.0020062695257365704, + 0.09291596710681915, + 0.0019424394704401493, + -0.0021499760914593935, + 0.2946947515010834, + 0.3128992021083832, + -0.19749946892261505, + 0.004267655313014984, + -0.0022086515091359615, + -0.007631226442754269, + 0.0037261235993355513, + 0.0009579081670381129, + -0.2078458070755005 + ], + "wrist_pos": [ + 0.27124032378196716, + 0.06852295249700546, + 0.693832278251648 + ], + "wrist_rot": [ + -0.48652639985084534, + 0.5120487213134766, + 0.48569217324256897, + 0.5149767994880676 + ], + "joint_positions": [ + -3.076329191387117e-10, + -2.346519600848751e-08 + ] + }, + { + "phase": "approach", + "step": 51, + "virtual_xyz": [ + 0.273436039686203, + 0.0688445195555687, + 0.6938897371292114 + ], + "wrist_rpy": [ + -1.5709112882614136, + 0.07113221287727356, + 1.5646041631698608 + ], + "finger_dofs": [ + 1.0508209466934204, + -0.0044217766262590885, + 0.06728675961494446, + 0.44747036695480347, + 0.005569673143327236, + 0.003534996882081032, + 0.09773452579975128, + -0.0018215520540252328, + -2.66612260020338e-05, + 1.0220811367034912, + -0.004741818644106388, + -0.00463546346873045, + 0.7504611611366272, + 0.0020361945498734713, + 0.0031216416973620653, + 0.06459919363260269, + 0.001895114779472351, + -0.002000289037823677, + 0.18618574738502502, + 0.006118202116340399, + -0.03796253725886345, + 0.26319068670272827, + 0.0022340642753988504, + -0.0028679012320935726, + 0.008424922823905945, + -0.001874994719401002, + 0.0020127035677433014, + 0.7810022234916687, + 0.005771617405116558, + -0.12151539325714111, + 0.7135348320007324, + -0.011149484664201736, + -0.002421206096187234, + 0.06830140203237534, + 0.002084322040900588, + -0.002094336086884141, + 0.2832970917224884, + 0.3160180449485779, + -0.19670838117599487, + 0.002767859725281596, + -0.003018933581188321, + 0.004935128148645163, + 0.00317313801497221, + 0.0019777652341872454, + -0.21695753931999207 + ], + "wrist_pos": [ + 0.27343612909317017, + 0.0688444972038269, + 0.6938896775245667 + ], + "wrist_rot": [ + -0.48353397846221924, + 0.515995979309082, + 0.4802704453468323, + 0.5189250707626343 + ], + "joint_positions": [ + -3.5134264941838467e-10, + -3.7930998786350756e-08 + ] + }, + { + "phase": "approach", + "step": 52, + "virtual_xyz": [ + 0.27546289563179016, + 0.06915276497602463, + 0.693920910358429 + ], + "wrist_rpy": [ + -1.5723851919174194, + 0.08786652982234955, + 1.563755989074707 + ], + "finger_dofs": [ + 1.0543603897094727, + -0.0034732327330857515, + 0.03398936614394188, + 0.4593064785003662, + 0.004628476221114397, + 0.002839757362380624, + 0.0985368862748146, + -0.0017827919218689203, + 0.00012668300769291818, + 1.033931851387024, + -0.003937575966119766, + -0.00744215864688158, + 0.7716544270515442, + 0.0023087491281330585, + 0.002921194303780794, + 0.0458608940243721, + 0.001989795360714197, + -0.002090692985802889, + 0.1869554966688156, + 0.012094653211534023, + -0.06745746731758118, + 0.3147382140159607, + -0.00695075374096632, + -0.00979728065431118, + 0.08030664175748825, + -0.0020255334675312042, + 0.001976113533601165, + 0.7930817008018494, + 0.0038563180714845657, + -0.100924052298069, + 0.745960533618927, + -0.01007892470806837, + -0.0012367188464850187, + 0.04721346125006676, + 0.002272718818858266, + -0.0022293073125183582, + 0.281628280878067, + 0.31727248430252075, + -0.1966845542192459, + -0.0031090695410966873, + -0.004093844443559647, + -0.001116414088755846, + 6.42774612060748e-05, + 0.0024633544962853193, + -0.22691166400909424 + ], + "wrist_pos": [ + 0.2754629850387573, + 0.06915274262428284, + 0.6939208507537842 + ], + "wrist_rot": [ + -0.47980615496635437, + 0.5201703310012817, + 0.4753062129020691, + 0.5227741003036499 + ], + "joint_positions": [ + -3.9132919127382593e-10, + -5.053759721818096e-08 + ] + }, + { + "phase": "approach", + "step": 53, + "virtual_xyz": [ + 0.27739283442497253, + 0.06945087015628815, + 0.6939059495925903 + ], + "wrist_rpy": [ + -1.5737292766571045, + 0.10187938064336777, + 1.562462568283081 + ], + "finger_dofs": [ + 1.0646617412567139, + -0.0035930657759308815, + 0.021068451926112175, + 0.4557425081729889, + 0.004688171204179525, + 0.0029084431007504463, + 0.10155079513788223, + -0.0017850898439064622, + 0.000296842772513628, + 1.0589786767959595, + -0.0037965974770486355, + -0.013672984205186367, + 0.7609509825706482, + 0.002130829030647874, + 0.002403596183285117, + 0.03513891249895096, + 0.0019805668853223324, + -0.0020700597669929266, + 0.18335025012493134, + 0.012740529142320156, + -0.06192992255091667, + 0.37500107288360596, + -0.006962995510548353, + -0.007623789831995964, + 0.15722744166851044, + -0.002039703307673335, + 0.002053368603810668, + 0.7845200896263123, + 0.003451469587162137, + -0.09284956008195877, + 0.8161571621894836, + -0.008671006187796593, + 0.0021473770029842854, + 0.02700694091618061, + 0.0023845424875617027, + -0.0023214188404381275, + 0.27338746190071106, + 0.32630908489227295, + -0.21040616929531097, + 0.0014646609779447317, + -0.003937131259590387, + 0.023441612720489502, + 0.002759364200755954, + 0.002470472129061818, + -0.23421233892440796 + ], + "wrist_pos": [ + 0.2773929238319397, + 0.06945084780454636, + 0.6939058899879456 + ], + "wrist_rot": [ + -0.4768473505973816, + 0.5235220789909363, + 0.4709344506263733, + 0.5260816812515259 + ], + "joint_positions": [ + -5.046948969855691e-10, + -6.112576045325113e-08 + ] + }, + { + "phase": "approach", + "step": 54, + "virtual_xyz": [ + 0.27923908829689026, + 0.06942445039749146, + 0.6939845085144043 + ], + "wrist_rpy": [ + -1.576115369796753, + 0.11432348191738129, + 1.5600416660308838 + ], + "finger_dofs": [ + 1.0754539966583252, + -0.003891558153554797, + 0.0040396167896687984, + 0.4662225544452667, + 0.0036907519679516554, + 0.003051578300073743, + 0.09951582551002502, + -0.0018013151129707694, + 0.0007374854758381844, + 1.104108452796936, + -0.003397553227841854, + -0.015132522210478783, + 0.714397132396698, + 0.000712680455762893, + 0.002148343250155449, + 0.017117837443947792, + 0.002101203426718712, + -0.0020301404874771833, + 0.18204264342784882, + 0.012975421734154224, + -0.040660031139850616, + 0.4355235993862152, + -0.008954079821705818, + -0.008107182569801807, + 0.1972227841615677, + -0.002145716454833746, + 0.0022173402830958366, + 0.818921685218811, + -0.0005464256391860545, + -0.07246296852827072, + 0.8312719464302063, + -0.004729027394205332, + 0.002587399911135435, + -0.0031603232491761446, + 0.002508221659809351, + -0.0022517007309943438, + 0.26805490255355835, + 0.33155667781829834, + -0.21080784499645233, + -0.00045914389193058014, + -0.003838755888864398, + 0.029305435717105865, + 0.0028775236569344997, + 0.0025514515582472086, + -0.23904140293598175 + ], + "wrist_pos": [ + 0.2792391777038574, + 0.06942442804574966, + 0.6939844489097595 + ], + "wrist_rot": [ + -0.47485777735710144, + 0.5264523029327393, + 0.46637484431266785, + 0.5290107727050781 + ], + "joint_positions": [ + -6.190578605291819e-10, + -6.71364119853024e-08 + ] + }, + { + "phase": "approach", + "step": 55, + "virtual_xyz": [ + 0.2809220552444458, + 0.06972843408584595, + 0.6940208077430725 + ], + "wrist_rpy": [ + -1.577991247177124, + 0.12394223362207413, + 1.557198405265808 + ], + "finger_dofs": [ + 1.095590591430664, + -0.004330879542976618, + 0.006492300890386105, + 0.4521830081939697, + 0.003960588946938515, + 0.0033301340881735086, + 0.09840942919254303, + -0.0018221283098682761, + 0.001294381683692336, + 1.12290620803833, + -0.004705650266259909, + -0.0012253151508048177, + 0.6899869441986084, + -0.00133701681625098, + 0.0028532021678984165, + 0.018385987728834152, + 0.001984735019505024, + -0.0019689882174134254, + 0.1807141900062561, + 0.01168291550129652, + -0.020361721515655518, + 0.5070219039916992, + -0.007724869530647993, + -0.0044218385592103004, + 0.21788103878498077, + -0.00209769862703979, + 0.0023329330142587423, + 0.8469391465187073, + -0.003256784752011299, + -0.05493093281984329, + 0.8351019024848938, + -0.004184961784631014, + 0.00270447856746614, + -0.0033664386719465256, + 0.00253069750033319, + -0.0022111539728939533, + 0.271629273891449, + 0.341225802898407, + -0.2238629162311554, + 0.00358609389513731, + -0.0033292395528405905, + 0.045394137501716614, + 0.0038031726144254208, + 0.002444153418764472, + -0.24244976043701172 + ], + "wrist_pos": [ + 0.28092217445373535, + 0.06972841173410416, + 0.6940207481384277 + ], + "wrist_rot": [ + -0.47358232736587524, + 0.5284785032272339, + 0.4625619351863861, + 0.5314759016036987 + ], + "joint_positions": [ + -7.901229115425679e-10, + -7.517623146213737e-08 + ] + }, + { + "phase": "approach", + "step": 56, + "virtual_xyz": [ + 0.2823539972305298, + 0.0697224959731102, + 0.6940187811851501 + ], + "wrist_rpy": [ + -1.5803543329238892, + 0.13574017584323883, + 1.5570380687713623 + ], + "finger_dofs": [ + 1.0860536098480225, + -0.002117701806128025, + -0.005968422628939152, + 0.4728599786758423, + 0.003293551504611969, + 0.0025929659605026245, + 0.0978039875626564, + -0.0017764035146683455, + 0.0015312026953324676, + 1.1369988918304443, + -0.0038749100640416145, + -0.01405494287610054, + 0.7149350047111511, + 0.0029660158324986696, + 0.0033483789302408695, + 0.002031337935477495, + 0.0020809187553822994, + -0.002157248556613922, + 0.14415809512138367, + 0.01572292484343052, + -0.02634412981569767, + 0.567733883857727, + -0.008997107855975628, + -0.0037887359503656626, + 0.2560719847679138, + -0.0022070962004363537, + 0.002400579396635294, + 0.8216689825057983, + -0.001782566192559898, + -0.05865960568189621, + 0.8946473002433777, + -0.0035947554279118776, + 0.003250482026487589, + -0.003635251894593239, + 0.0026647949125617743, + -0.0024613155983388424, + 0.26398104429244995, + 0.3462809920310974, + -0.2315540462732315, + 0.00487967673689127, + -0.0031572587322443724, + 0.058186545968055725, + 0.004027738235890865, + 0.0026205487083643675, + -0.24759191274642944 + ], + "wrist_pos": [ + 0.28235408663749695, + 0.06972247362136841, + 0.6940187215805054 + ], + "wrist_rot": [ + -0.47114983201026917, + 0.5317450165748596, + 0.4587278962135315, + 0.5336981415748596 + ], + "joint_positions": [ + -7.616593467041355e-10, + -8.500307302483634e-08 + ] + }, + { + "phase": "approach", + "step": 57, + "virtual_xyz": [ + 0.2836362421512604, + 0.06955781579017639, + 0.6939853429794312 + ], + "wrist_rpy": [ + -1.5822392702102661, + 0.14624179899692535, + 1.555890679359436 + ], + "finger_dofs": [ + 1.08873450756073, + -0.0020508570596575737, + -0.006378401070833206, + 0.4823929965496063, + 0.0034148821141570807, + 0.002639163052663207, + 0.09850386530160904, + -0.0017815522151067853, + 0.00158906658180058, + 1.1799005270004272, + -0.003957683686167002, + -0.010073037818074226, + 0.6840225458145142, + 3.255694900872186e-05, + 0.0027707060799002647, + -0.002442103810608387, + 0.002080765087157488, + -0.002088813344016671, + 0.10912056267261505, + 0.019553402438759804, + -0.038691528141498566, + 0.5987920761108398, + -0.010192902758717537, + -0.004178456962108612, + 0.294556587934494, + -0.002264193957671523, + 0.0026047425344586372, + 0.8032731413841248, + 0.0013910833513364196, + -0.07047963887453079, + 0.9586129784584045, + -0.0036801937967538834, + 0.003322675358504057, + -0.0036140175070613623, + 0.0025943967048078775, + -0.00255146948620677, + 0.25416257977485657, + 0.3595314025878906, + -0.24970278143882751, + 0.0042907171882689, + -0.003068799851462245, + 0.07156258821487427, + 0.004235864616930485, + 0.0027314689941704273, + -0.25059306621551514 + ], + "wrist_pos": [ + 0.28363633155822754, + 0.0695577934384346, + 0.6939852833747864 + ], + "wrist_rot": [ + -0.4691859185695648, + 0.5343451499938965, + 0.4550847113132477, + 0.5359455943107605 + ], + "joint_positions": [ + -8.689700625730268e-10, + -9.136504530715683e-08 + ] + }, + { + "phase": "approach", + "step": 58, + "virtual_xyz": [ + 0.28482332825660706, + 0.06902540475130081, + 0.6940451264381409 + ], + "wrist_rpy": [ + -1.5810927152633667, + 0.15233148634433746, + 1.5562630891799927 + ], + "finger_dofs": [ + 1.084563970565796, + 0.0011780807981267571, + -0.014541813172399998, + 0.5078418850898743, + 0.0026039357762783766, + 0.0023995537776499987, + 0.09831415116786957, + -0.001412312500178814, + 0.001696727005764842, + 1.1317272186279297, + -0.01250110287219286, + 0.006791090127080679, + 0.7481956481933594, + -0.00210574665106833, + 0.002671922091394663, + -0.0023962410632520914, + 0.0021489018108695745, + -0.0021514734253287315, + 0.08471056818962097, + 0.024054616689682007, + -0.0669718086719513, + 0.6140429973602295, + -0.010944748297333717, + -0.004500963259488344, + 0.3363025188446045, + -0.00227548205293715, + 0.002450834261253476, + 0.9012463092803955, + -0.007705489173531532, + -0.04934139549732208, + 0.9730172753334045, + -0.002265390008687973, + 0.002110147848725319, + -0.0040792617946863174, + 0.002564123133197427, + -0.0025533295702189207, + 0.24448393285274506, + 0.3728243410587311, + -0.2701167166233063, + 0.003924815449863672, + -0.0035750390961766243, + 0.083505779504776, + 0.0037270565517246723, + 0.002801368245854974, + -0.25061357021331787 + ], + "wrist_pos": [ + 0.2848234176635742, + 0.06902538239955902, + 0.6940450668334961 + ], + "wrist_rot": [ + -0.4671650528907776, + 0.5355794429779053, + 0.4538416564464569, + 0.5375306606292725 + ], + "joint_positions": [ + -9.372992382239431e-10, + -9.340244133682063e-08 + ] + }, + { + "phase": "approach", + "step": 59, + "virtual_xyz": [ + 0.28666025400161743, + 0.06798264384269714, + 0.6939395070075989 + ], + "wrist_rpy": [ + -1.5810737609863281, + 0.13370922207832336, + 1.5663689374923706 + ], + "finger_dofs": [ + 1.1085262298583984, + 0.002026529982686043, + -0.026594551280140877, + 0.5552299618721008, + -0.0009320146054960787, + 0.0018994794227182865, + 0.10314362496137619, + -0.0004414870636537671, + 8.868275472195819e-05, + 0.7414649128913879, + -0.006691456772387028, + 0.007036881987005472, + 1.1600918769836426, + -0.00314831524156034, + 0.0071668922901153564, + 0.01310944277793169, + 0.001733074663206935, + -0.0027648694813251495, + 0.1842654049396515, + 0.02560913749039173, + -0.13854511082172394, + 0.5996796488761902, + -0.010906185023486614, + -0.0024317640345543623, + 0.34887659549713135, + -0.0019678419921547174, + 0.0010621108813211322, + 1.0262444019317627, + -0.010425714775919914, + -0.04096195101737976, + 0.8734374642372131, + -0.0013588117435574532, + 0.002525079995393753, + -0.006253961473703384, + 0.002812774619087577, + -0.002640370512381196, + 0.2949886620044708, + 0.35346394777297974, + -0.26821422576904297, + 0.0047615887597203255, + -0.0032123310957103968, + 0.039759211242198944, + 0.0032910960726439953, + 0.0028212538454681635, + -0.24719128012657166 + ], + "wrist_pos": [ + 0.2866603136062622, + 0.06798262149095535, + 0.6939394474029541 + ], + "wrist_rot": [ + -0.4693922996520996, + 0.5336324572563171, + 0.4615650475025177, + 0.530909538269043 + ], + "joint_positions": [ + -1.3281904465145544e-09, + -6.404086150268995e-08 + ] + }, + { + "phase": "approach", + "step": 60, + "virtual_xyz": [ + 0.28855687379837036, + 0.06628778576850891, + 0.693916380405426 + ], + "wrist_rpy": [ + -1.5809354782104492, + 0.09226488322019577, + 1.572557806968689 + ], + "finger_dofs": [ + 0.9193629026412964, + 0.0033052784856408834, + -0.03123956359922886, + 0.8258457183837891, + 0.0036791572347283363, + -0.008962472900748253, + 0.11435670405626297, + 0.002002040157094598, + -0.0009031250374391675, + 0.3010947108268738, + 0.002520268317312002, + -0.0047041913494467735, + 0.9928597807884216, + 0.0017873013857752085, + 0.002399652963504195, + 0.05495354160666466, + 0.0018654968589544296, + -0.0022071138955652714, + 0.37159669399261475, + 0.016672302037477493, + -0.18878312408924103, + 0.5401480197906494, + -0.006584447342902422, + -0.0032277419231832027, + 0.31697702407836914, + -0.0019816879648715258, + 0.0017887118738144636, + 1.248517632484436, + -0.0049828216433525085, + -0.02608717419207096, + 0.6268768906593323, + -0.001781926373951137, + -0.0031981735955923796, + 0.048414453864097595, + -0.0017178243724629283, + -0.001942153088748455, + 0.39786842465400696, + 0.3153104782104492, + -0.2324659824371338, + 0.003946950659155846, + -0.0027955195400863886, + -0.049621257930994034, + 0.001046993536874652, + 0.0021561591420322657, + -0.23216649889945984 + ], + "wrist_pos": [ + 0.2885569632053375, + 0.06628776341676712, + 0.6939163208007812 + ], + "wrist_rot": [ + -0.4785904288291931, + 0.5253561735153198, + 0.47421273589134216, + 0.5196866989135742 + ], + "joint_positions": [ + -1.023163220814638e-09, + -1.6773048727714013e-08 + ] + }, + { + "phase": "approach", + "step": 61, + "virtual_xyz": [ + 0.28967779874801636, + 0.06574670970439911, + 0.6941527724266052 + ], + "wrist_rpy": [ + -1.570908546447754, + 0.0535687617957592, + 1.5673184394836426 + ], + "finger_dofs": [ + 0.5844252109527588, + -0.000325911765685305, + -0.009950288571417332, + 0.5874935388565063, + 0.0019078131299465895, + -0.0016088539268821478, + 0.10524728149175644, + 0.001018424634821713, + 1.8185590306529775e-05, + 0.2881312966346741, + 0.002282300963997841, + 0.002124543534591794, + 0.6723134517669678, + 0.001841600751504302, + 0.00148082769010216, + 0.09067270904779434, + 0.0005600549629889429, + 0.0003057562280446291, + 0.5604307055473328, + 0.00827675312757492, + -0.19104509055614471, + 0.4958016574382782, + -0.004083392210304737, + -0.002607273170724511, + 0.27542638778686523, + -0.0020683850161731243, + 0.0018239005003124475, + 1.4034267663955688, + -0.012045135721564293, + 0.007574302144348621, + 0.3956082761287689, + 0.0031847311183810234, + -0.0020749561954289675, + 0.1133827194571495, + -0.00217185216024518, + -0.002036981051787734, + 0.5100010633468628, + 0.3262416422367096, + -0.20890384912490845, + 0.004023890942335129, + -0.003068107645958662, + -0.10573425143957138, + -0.001720016123726964, + 0.0019278432009741664, + -0.21642157435417175 + ], + "wrist_pos": [ + 0.2896778881549835, + 0.06574668735265732, + 0.6941527128219604 + ], + "wrist_rot": [ + -0.4873504638671875, + 0.5123917460441589, + 0.48550817370414734, + 0.5140290856361389 + ], + "joint_positions": [ + 6.854269486211706e-06, + 0.0034262132830917835 + ] + }, + { + "phase": "approach", + "step": 62, + "virtual_xyz": [ + 0.29015445709228516, + 0.06583735346794128, + 0.6942944526672363 + ], + "wrist_rpy": [ + -1.5696924924850464, + 0.04769046977162361, + 1.5657635927200317 + ], + "finger_dofs": [ + 0.44313180446624756, + -0.0018652883591130376, + 0.00010502084478503093, + 0.40365493297576904, + 0.0018581507029011846, + 0.0006566564552485943, + 0.10159178823232651, + 0.00031332456273958087, + 0.00023006465926300734, + 0.25609090924263, + 0.0023815950844436884, + 0.001598300295881927, + 0.4892413020133972, + 6.14453456364572e-05, + 0.0018920032307505608, + 0.08707007765769958, + 0.0018097450956702232, + -0.0018290398875251412, + 0.6000363826751709, + 0.00753183476626873, + -0.17915481328964233, + 0.4639330506324768, + -0.00436611520126462, + -0.002877284772694111, + 0.2576253116130829, + -0.002042139647528529, + 0.0016787350177764893, + 1.4013137817382812, + -0.015146026387810707, + 0.025311168283224106, + 0.3776770234107971, + 0.002872886136174202, + 0.002043371554464102, + 0.11159241199493408, + -0.0018963170005008578, + -0.001963973045349121, + 0.5255053043365479, + 0.33338794112205505, + -0.21415184438228607, + 0.004086710046976805, + -0.0031220614910125732, + -0.10431432723999023, + -0.00037129188422113657, + 0.0019710627384483814, + -0.21955032646656036 + ], + "wrist_pos": [ + 0.2901545464992523, + 0.0658373311161995, + 0.6942943930625916 + ], + "wrist_rot": [ + -0.48893946409225464, + 0.5102810859680176, + 0.4869286119937897, + 0.5132755041122437 + ], + "joint_positions": [ + -2.8262963150393894e-11, + -6.437624655575291e-09 + ] + }, + { + "phase": "approach", + "step": 63, + "virtual_xyz": [ + 0.2903958261013031, + 0.06593543291091919, + 0.6942539811134338 + ], + "wrist_rpy": [ + -1.5690093040466309, + 0.04751270264387131, + 1.5649663209915161 + ], + "finger_dofs": [ + 0.3759665787220001, + 0.002151487860828638, + 0.001972527476027608, + 0.2814653813838959, + 0.0017782216891646385, + 0.0015550674870610237, + 0.10031420737504959, + 4.195756991975941e-05, + 0.00023984180006664246, + 0.24190670251846313, + 0.002299299230799079, + -0.0003726541472133249, + 0.37066832184791565, + -0.0017778546316549182, + 0.0019761724397540092, + 0.08380447328090668, + 0.0018108144868165255, + -0.0018466933397576213, + 0.6124910712242126, + 0.007029327098280191, + -0.1789265275001526, + 0.45553064346313477, + -0.004293958656489849, + -0.0026610998902469873, + 0.2558050751686096, + -0.0020400281064212322, + 0.001187001820653677, + 1.4054573774337769, + -0.015179499983787537, + 0.025407666340470314, + 0.38261178135871887, + 0.002861352637410164, + 0.0020786267705261707, + 0.108193539083004, + -0.001914378721266985, + -0.001984588336199522, + 0.5326412320137024, + 0.3356581926345825, + -0.21758393943309784, + 0.004062509164214134, + -0.0030803994741290808, + -0.1043429970741272, + -0.00024078645219560713, + 0.001980548957362771, + -0.2213754951953888 + ], + "wrist_pos": [ + 0.29039591550827026, + 0.0659354105591774, + 0.6942539215087891 + ], + "wrist_rot": [ + -0.48901283740997314, + 0.5098764300346375, + 0.48694366216659546, + 0.5135934948921204 + ], + "joint_positions": [ + -2.661797518510589e-11, + -1.2033987140114277e-08 + ] + }, + { + "phase": "approach", + "step": 64, + "virtual_xyz": [ + 0.2904747426509857, + 0.0659824013710022, + 0.6942235827445984 + ], + "wrist_rpy": [ + -1.5682671070098877, + 0.047306984663009644, + 1.564882755279541 + ], + "finger_dofs": [ + 0.3498261570930481, + 0.002263943897560239, + 0.0014690074604004622, + 0.2282923310995102, + 0.0015978438314050436, + 0.0009357314556837082, + 0.0997549444437027, + -2.8689011742244475e-05, + 0.00021235071471892297, + 0.23574323952198029, + 0.0023575255181640387, + -0.002592010423541069, + 0.29360538721084595, + -0.001861176686361432, + 0.001961746718734503, + 0.08286815136671066, + 0.0018139708554372191, + -0.001839929143898189, + 0.6173209547996521, + 0.00700836256146431, + -0.18125054240226746, + 0.4505078196525574, + -0.004248262383043766, + -0.0027321581728756428, + 0.2538682818412781, + -0.002053778851404786, + 0.0005328013212420046, + 1.410058856010437, + -0.015250087715685368, + 0.0240181777626276, + 0.38007083535194397, + 0.002798059256747365, + 0.0020944958087056875, + 0.10818567126989365, + -0.0019052097341045737, + -0.0019873781129717827, + 0.5360231995582581, + 0.3362727165222168, + -0.2191673368215561, + 0.00397039670497179, + -0.0030314226169139147, + -0.10471548140048981, + -2.6824873202713206e-05, + 0.001988364150747657, + -0.22193965315818787 + ], + "wrist_pos": [ + 0.2904748320579529, + 0.0659823790192604, + 0.6942235231399536 + ], + "wrist_rot": [ + -0.4888959228992462, + 0.5096248388290405, + 0.48716413974761963, + 0.5137453079223633 + ], + "joint_positions": [ + -2.297082489499669e-11, + -1.3951314770110912e-08 + ] + }, + { + "phase": "grasp", + "step": 0, + "virtual_xyz": [ + 0.2904754877090454, + 0.06587842106819153, + 0.6942254900932312 + ], + "wrist_rpy": [ + -1.5674611330032349, + 0.04627273976802826, + 1.565065860748291 + ], + "finger_dofs": [ + 0.33802440762519836, + 0.002313147997483611, + 0.0009462406160309911, + 0.20988458395004272, + 0.00046834212844260037, + 0.0003546972875483334, + 0.10070620477199554, + -3.859696153085679e-05, + 0.00019045012595597655, + 0.2327582687139511, + 0.0023770525585860014, + -0.0035359389148652554, + 0.26234662532806396, + -0.0018607232486829162, + 0.001956382766366005, + 0.08398717641830444, + 0.0018088571960106492, + -0.0018349953461438417, + 0.6167622804641724, + 0.006922702305018902, + -0.18355967104434967, + 0.45045778155326843, + -0.004176129586994648, + -0.0026902053505182266, + 0.2540966868400574, + -0.0020594142843037844, + 0.0002831341989804059, + 1.4145749807357788, + -0.01505036186426878, + 0.022036777809262276, + 0.37264013290405273, + 0.002764494391158223, + 0.002109590917825699, + 0.11115153133869171, + -0.0019224435091018677, + -0.002001444809138775, + 0.5374752879142761, + 0.336853951215744, + -0.21993456780910492, + 0.003990323282778263, + -0.00305548426695168, + -0.10618419945240021, + -0.0001652529026614502, + 0.0019749458879232407, + -0.22204531729221344 + ], + "wrist_pos": [ + 0.2904755771160126, + 0.06587839871644974, + 0.6942254304885864 + ], + "wrist_rot": [ + -0.4889065623283386, + 0.5092195272445679, + 0.48768138885498047, + 0.5136464238166809 + ], + "joint_positions": [ + -2.2283563883007673e-11, + -1.3401143306168706e-08 + ] + }, + { + "phase": "grasp", + "step": 1, + "virtual_xyz": [ + 0.29113057255744934, + 0.06603242456912994, + 0.6945997476577759 + ], + "wrist_rpy": [ + -1.5647709369659424, + 0.040681660175323486, + 1.5644892454147339 + ], + "finger_dofs": [ + 0.3272955119609833, + -0.001987078692764044, + 0.0034029206726700068, + 0.21880018711090088, + 0.0017289298120886087, + 0.0016991387819871306, + 0.10386581718921661, + -0.0001362008770229295, + 0.0004182880511507392, + 0.2653874158859253, + 0.0020457615610212088, + -0.0011859682854264975, + 0.2258085012435913, + 3.5237571864854544e-05, + 0.0018304414115846157, + 0.10035410523414612, + 0.00028255433426238596, + -0.0007592809270136058, + 0.6894485354423523, + 0.010270856320858002, + -0.18343624472618103, + 0.4525299370288849, + -0.002926014130935073, + -0.0021836459636688232, + 0.2412605583667755, + -0.0020503809209913015, + 0.0019128290005028248, + 1.461450219154358, + -0.017878657206892967, + 0.028743896633386612, + 0.33702975511550903, + 0.003643633797764778, + 0.001650190562941134, + 0.12784509360790253, + -0.0022127169650048018, + -0.002073302399367094, + 0.5843259692192078, + 0.3327375054359436, + -0.21553748846054077, + -0.003665437689051032, + -0.005350291263312101, + -0.12078183889389038, + -0.00439924793317914, + 0.002544919028878212, + -0.22127945721149445 + ], + "wrist_pos": [ + 0.2911306619644165, + 0.06603240221738815, + 0.6945996880531311 + ], + "wrist_rot": [ + -0.48978936672210693, + 0.5070462822914124, + 0.48964571952819824, + 0.5130862593650818 + ], + "joint_positions": [ + 5.498856231467286e-11, + 0.00879813265055418 + ] + }, + { + "phase": "grasp", + "step": 2, + "virtual_xyz": [ + 0.2909712493419647, + 0.06667030602693558, + 0.6945761442184448 + ], + "wrist_rpy": [ + -1.5568870306015015, + 0.03811418265104294, + 1.560953140258789 + ], + "finger_dofs": [ + 0.30682435631752014, + -0.001882268232293427, + 0.003806482534855604, + 0.22929830849170685, + 0.0017486787401139736, + 0.000640873855445534, + 0.11002981662750244, + -0.0001088293211068958, + 0.0005965416203252971, + 0.31761717796325684, + 0.0019518424523994327, + 0.0019864134956151247, + 0.1747131645679474, + 0.0018818977987393737, + -0.000962995458394289, + 0.12789121270179749, + -0.001830210560001433, + 0.0005714892758987844, + 0.8445362448692322, + 0.008005557581782341, + -0.2096056044101715, + 0.43550795316696167, + -0.003211071714758873, + -0.0021660549100488424, + 0.19222420454025269, + -0.0020589649211615324, + 0.0019663330167531967, + 1.5795091390609741, + -0.009798218496143818, + 0.031094616279006004, + 0.21944570541381836, + 0.0029938905499875546, + -0.0025207011494785547, + 0.12563179433345795, + -0.0022677078377455473, + -0.0021870050113648176, + 0.6704211235046387, + 0.32814934849739075, + -0.18662600219249725, + -0.0212907362729311, + -0.007108758203685284, + -0.20808614790439606, + -0.013094163499772549, + 0.00306943547911942, + -0.22191041707992554 + ], + "wrist_pos": [ + 0.2909713387489319, + 0.06667028367519379, + 0.6945760846138 + ], + "wrist_rot": [ + -0.48931097984313965, + 0.5036121010780334, + 0.4913824200630188, + 0.5152600407600403 + ], + "joint_positions": [ + 9.234870958607644e-06, + 0.025858711451292038 + ] + }, + { + "phase": "grasp", + "step": 3, + "virtual_xyz": [ + 0.29075348377227783, + 0.0667995736002922, + 0.6945122480392456 + ], + "wrist_rpy": [ + -1.5530716180801392, + 0.0363645926117897, + 1.5592787265777588 + ], + "finger_dofs": [ + 0.3061278164386749, + -0.002006133086979389, + 0.0033269403502345085, + 0.23405225574970245, + 0.0007972285384312272, + 0.0003913160471711308, + 0.11945880949497223, + -9.21360042411834e-05, + 0.0005572513910010457, + 0.3403748869895935, + 0.0018948237411677837, + 0.003867518389597535, + 0.16932015120983124, + 0.0018684105016291142, + -0.0017005510162562132, + 0.14294810593128204, + -0.0018277193885296583, + 0.0012125561479479074, + 0.8978842496871948, + 0.006966589018702507, + -0.21631604433059692, + 0.4036710560321808, + -0.00294365338049829, + -0.0018144508358091116, + 0.17476299405097961, + -0.0020124902948737144, + 0.0019584600813686848, + 1.6104276180267334, + -0.009052219800651073, + 0.01921529695391655, + 0.17671972513198853, + 0.002733267843723297, + -0.002823440358042717, + 0.12073037773370743, + -0.0022490541450679302, + -0.002207815647125244, + 0.6899054646492004, + 0.33929896354675293, + -0.16665783524513245, + -0.022006353363394737, + -0.005686626769602299, + -0.26446589827537537, + -0.013906484469771385, + 0.003381552407518029, + -0.22357407212257385 + ], + "wrist_pos": [ + 0.290753573179245, + 0.06679955124855042, + 0.6945121884346008 + ], + "wrist_rot": [ + -0.4891945421695709, + 0.5018290281295776, + 0.49235403537750244, + 0.5161818861961365 + ], + "joint_positions": [ + 1.8277949493494816e-05, + 0.031717680394649506 + ] + }, + { + "phase": "grasp", + "step": 4, + "virtual_xyz": [ + 0.29066550731658936, + 0.06688424199819565, + 0.6944193243980408 + ], + "wrist_rpy": [ + -1.5511341094970703, + 0.03693731129169464, + 1.5581892728805542 + ], + "finger_dofs": [ + 0.3120601773262024, + -0.0018551882822066545, + 0.002704551676288247, + 0.2427951842546463, + -0.0004720789729617536, + 6.368912727339193e-05, + 0.1317247748374939, + -6.376476085279137e-05, + 0.0004972967435605824, + 0.3539343774318695, + 0.001883620279841125, + 0.0027446832973510027, + 0.17984192073345184, + 0.0018563844496384263, + -0.0010720816208049655, + 0.15596257150173187, + -0.0018212901195511222, + 0.0004051928990520537, + 0.9088737368583679, + 0.008243302814662457, + -0.2193545699119568, + 0.39227259159088135, + -0.0030008559115231037, + -0.0016223861603066325, + 0.17899712920188904, + -0.002004347275942564, + 0.0019390080124139786, + 1.6139553785324097, + -0.007089686580002308, + 0.009408622980117798, + 0.17850618064403534, + 0.0025358032435178757, + -0.003309523919597268, + 0.1252247840166092, + -0.0023085821885615587, + -0.002183848060667515, + 0.6892813444137573, + 0.3491121828556061, + -0.1597619652748108, + -0.021777961403131485, + -0.004023300483822823, + -0.282155305147171, + -0.012550262734293938, + 0.003374488325789571, + -0.2287597805261612 + ], + "wrist_pos": [ + 0.2906656265258789, + 0.06688421964645386, + 0.694419264793396 + ], + "wrist_rot": [ + -0.48882102966308594, + 0.5012285709381104, + 0.4924130439758301, + 0.5170620679855347 + ], + "joint_positions": [ + 2.3132175556384027e-05, + 0.033310797065496445 + ] + }, + { + "phase": "grasp", + "step": 5, + "virtual_xyz": [ + 0.2906518876552582, + 0.06690158694982529, + 0.6943991184234619 + ], + "wrist_rpy": [ + -1.5506116151809692, + 0.03593636304140091, + 1.5580018758773804 + ], + "finger_dofs": [ + 0.32223886251449585, + -0.0019202108960598707, + 0.0023383169900625944, + 0.2587120831012726, + -0.0010835935827344656, + -0.0002383060345891863, + 0.14655770361423492, + -3.7089343095431104e-05, + 0.0004709063796326518, + 0.36990466713905334, + 0.0018911573570221663, + 0.002342978259548545, + 0.19579124450683594, + 0.0018691443838179111, + -0.001376056345179677, + 0.17164820432662964, + -0.001825074665248394, + 0.00027278161724098027, + 0.9210018515586853, + 0.008018795400857925, + -0.21993713080883026, + 0.3800657093524933, + -0.0029330896213650703, + -0.0006480010342784226, + 0.18857493996620178, + -0.001998307416215539, + 0.0019478723406791687, + 1.6203052997589111, + -0.00432899035513401, + -0.00915960781276226, + 0.16971781849861145, + 0.0024766975548118353, + -0.004278478678315878, + 0.13888628780841827, + -0.0024804426357150078, + -0.0021865603048354387, + 0.6901950240135193, + 0.35496416687965393, + -0.1601296216249466, + -0.022409632802009583, + -0.004213973414152861, + -0.2797512710094452, + -0.012642358429729939, + 0.0032760866452008486, + -0.2336731106042862 + ], + "wrist_pos": [ + 0.29065197706222534, + 0.0669015645980835, + 0.6943990588188171 + ], + "wrist_rot": [ + -0.4889885187149048, + 0.5008042454719543, + 0.4927493929862976, + 0.5169944167137146 + ], + "joint_positions": [ + 2.9810247724526562e-05, + 0.03366951644420624 + ] + }, + { + "phase": "grasp", + "step": 6, + "virtual_xyz": [ + 0.2906574010848999, + 0.06680256873369217, + 0.6944574117660522 + ], + "wrist_rpy": [ + -1.5504999160766602, + 0.03375644609332085, + 1.5585405826568604 + ], + "finger_dofs": [ + 0.3377736210823059, + 0.0022171151358634233, + 0.002270445693284273, + 0.27819812297821045, + -0.0016051908023655415, + -0.0003333548957016319, + 0.16372330486774445, + -9.205205969919916e-06, + 0.000476415385492146, + 0.38729390501976013, + 0.001825865707360208, + -0.0009225125540979207, + 0.21544155478477478, + 0.001854865811765194, + 0.0019197884248569608, + 0.18985269963741302, + -0.0018209378467872739, + -0.001544520491734147, + 0.9309908747673035, + 0.007511788513511419, + -0.22246208786964417, + 0.37656328082084656, + -0.00246748817153275, + -0.00032263511093333364, + 0.1963188797235489, + -0.0020559397526085377, + 0.0019274469232186675, + 1.624596357345581, + -0.0023862787056714296, + -0.024899883195757866, + 0.21166589856147766, + 0.0017157861730083823, + -0.007425220683217049, + 0.16859683394432068, + -0.0029103613924235106, + -0.0022067532408982515, + 0.6886281371116638, + 0.368428498506546, + -0.16210375726222992, + -0.021186258643865585, + -0.005207066889852285, + -0.2784556448459625, + -0.012464501895010471, + 0.003182588377967477, + -0.24060824513435364 + ], + "wrist_pos": [ + 0.29065752029418945, + 0.06680254638195038, + 0.6944573521614075 + ], + "wrist_rot": [ + -0.48938125371932983, + 0.5003639459609985, + 0.4934687912464142, + 0.516362726688385 + ], + "joint_positions": [ + 3.3531679946463555e-05, + 0.03389546275138855 + ] + }, + { + "phase": "grasp", + "step": 7, + "virtual_xyz": [ + 0.29062286019325256, + 0.06667230278253555, + 0.6944341659545898 + ], + "wrist_rpy": [ + -1.5489957332611084, + 0.03492486849427223, + 1.5570077896118164 + ], + "finger_dofs": [ + 0.3530532717704773, + 0.0022522788494825363, + 0.0026576207019388676, + 0.29961395263671875, + -0.0017846637638285756, + 0.00017779895279090852, + 0.18313851952552795, + 5.590650107478723e-05, + 0.0004899072810076177, + 0.40427812933921814, + 0.0018141194013878703, + -0.0020738958846777678, + 0.23314188420772552, + 0.0018567639635875821, + 0.0019271235214546323, + 0.21066151559352875, + -0.0018231576541438699, + -0.0018048450583592057, + 0.9045027494430542, + 0.007469555828720331, + -0.22228139638900757, + 0.3992663323879242, + -0.002700255485251546, + -0.0021991808898746967, + 0.22036808729171753, + -0.002080036560073495, + 0.0019419240998104215, + 1.6212714910507202, + -0.01218724437057972, + -0.0031143338419497013, + 0.34480926394462585, + 0.0028537411708384752, + -0.0019438870949670672, + 0.21668154001235962, + -0.002223469316959381, + -0.002063274383544922, + 0.6727418303489685, + 0.38788509368896484, + -0.1589609533548355, + -0.018073774874210358, + -0.00474878866225481, + -0.27609771490097046, + -0.01016773097217083, + 0.0031958892941474915, + -0.2500908076763153 + ], + "wrist_pos": [ + 0.2906229496002197, + 0.06667228043079376, + 0.6944341063499451 + ], + "wrist_rot": [ + -0.489077627658844, + 0.49991005659103394, + 0.4931528866291046, + 0.5173906683921814 + ], + "joint_positions": [ + 1.2886594959127251e-05, + 0.03390577435493469 + ] + }, + { + "phase": "grasp", + "step": 8, + "virtual_xyz": [ + 0.290616899728775, + 0.06666766107082367, + 0.6944539546966553 + ], + "wrist_rpy": [ + -1.5479918718338013, + 0.03597349673509598, + 1.5553163290023804 + ], + "finger_dofs": [ + 0.36919301748275757, + 0.0021635335870087147, + 0.0032686416525393724, + 0.32699406147003174, + -0.0017656200798228383, + 0.0006293415208347142, + 0.20468921959400177, + 0.00014610473590437323, + 0.0005327850230969489, + 0.42766880989074707, + 0.0017964148428291082, + -0.0021851465571671724, + 0.25265267491340637, + 0.001863048761151731, + 0.0019177893409505486, + 0.23513825237751007, + -0.001827517058700323, + -0.0017937463708221912, + 0.8992766737937927, + 0.009457387961447239, + -0.21930646896362305, + 0.3946571946144104, + -0.0026344761718064547, + -0.00230450090020895, + 0.2431948333978653, + -0.0021038667764514685, + 0.0019769519567489624, + 1.6100910902023315, + -0.014155118726193905, + 0.022113583981990814, + 0.39577803015708923, + 0.0033778701908886433, + -0.0011321005877107382, + 0.25015923380851746, + -0.0022288972977548838, + -0.002026943489909172, + 0.6653686761856079, + 0.40740856528282166, + -0.16772323846817017, + -0.018463583663105965, + -0.004299679305404425, + -0.26966652274131775, + -0.009547245688736439, + 0.003157586557790637, + -0.2604866027832031 + ], + "wrist_pos": [ + 0.2906169891357422, + 0.06666763871908188, + 0.6944538950920105 + ], + "wrist_rot": [ + -0.4889725148677826, + 0.4995114803314209, + 0.49270009994506836, + 0.5183055400848389 + ], + "joint_positions": [ + 3.915619345207233e-06, + 0.0336894653737545 + ] + }, + { + "phase": "grasp", + "step": 9, + "virtual_xyz": [ + 0.2906251549720764, + 0.06660458445549011, + 0.6944096684455872 + ], + "wrist_rpy": [ + -1.548190951347351, + 0.03515015169978142, + 1.5536813735961914 + ], + "finger_dofs": [ + 0.388700395822525, + 0.002191492123529315, + 0.0034342713188380003, + 0.35678133368492126, + -0.001765621593222022, + 0.0007730883662588894, + 0.22835616767406464, + 0.00023511600738856941, + 0.000541546440217644, + 0.45321208238601685, + 0.0018072775565087795, + -0.002639596816152334, + 0.27696457505226135, + 0.0018879914423450828, + 0.0018908493220806122, + 0.2613358795642853, + -0.0018350145546719432, + -0.0017889218870550394, + 0.889766275882721, + 0.008819292299449444, + -0.21679067611694336, + 0.4118054211139679, + -0.0025697231758385897, + -0.002251919126138091, + 0.2665826380252838, + -0.002101107267662883, + 0.0019967504777014256, + 1.6069077253341675, + -0.014244984835386276, + 0.029366575181484222, + 0.42870885133743286, + 0.0034625777043402195, + 0.0018199700862169266, + 0.2790433466434479, + -0.0022417192813009024, + -0.0019811654929071665, + 0.6572940945625305, + 0.4347202479839325, + -0.17655402421951294, + -0.017161350697278976, + -0.004225823562592268, + -0.26534682512283325, + -0.00819107424467802, + 0.003147970186546445, + -0.2710324227809906 + ], + "wrist_pos": [ + 0.2906252443790436, + 0.06660456210374832, + 0.6944096088409424 + ], + "wrist_rot": [ + -0.48964235186576843, + 0.49895429611206055, + 0.4924352467060089, + 0.5184615254402161 + ], + "joint_positions": [ + 1.922494220707449e-06, + 0.03381600230932236 + ] + }, + { + "phase": "grasp", + "step": 10, + "virtual_xyz": [ + 0.29061973094940186, + 0.06648962944746017, + 0.6943618655204773 + ], + "wrist_rpy": [ + -1.5482597351074219, + 0.033593613654375076, + 1.5524604320526123 + ], + "finger_dofs": [ + 0.41044583916664124, + 0.002724845428019762, + 0.0031014184933155775, + 0.38888898491859436, + -0.001777517143636942, + 0.00042072622454725206, + 0.2539791464805603, + 0.0002632287214510143, + 0.0005230868700891733, + 0.48039913177490234, + 0.0018621616763994098, + -0.0034874763805419207, + 0.3035992383956909, + 0.0019528662087395787, + 0.0019120810320600867, + 0.289167195558548, + -0.0018626614473760128, + -0.0018241351936012506, + 0.8895753026008606, + 0.00992139708250761, + -0.21328921616077423, + 0.4146517217159271, + -0.0026018021162599325, + -0.002275460632517934, + 0.2916550040245056, + -0.0021267638076096773, + 0.001979636959731579, + 1.6052206754684448, + -0.014003007672727108, + 0.03601199388504028, + 0.4519101083278656, + 0.0038166376762092113, + 0.0018138057785108685, + 0.30752214789390564, + -0.0022721162531524897, + -0.001972964033484459, + 0.648125946521759, + 0.462234228849411, + -0.18379904329776764, + -0.01570292003452778, + -0.003886266378685832, + -0.26440563797950745, + -0.007269685156643391, + 0.003172487486153841, + -0.2817254364490509 + ], + "wrist_pos": [ + 0.29061979055404663, + 0.06648960709571838, + 0.6943618059158325 + ], + "wrist_rot": [ + -0.4903612732887268, + 0.4982817471027374, + 0.49249643087387085, + 0.5183707475662231 + ], + "joint_positions": [ + 3.564651478882297e-06, + 0.033801887184381485 + ] + }, + { + "phase": "grasp", + "step": 11, + "virtual_xyz": [ + 0.2906164526939392, + 0.06640108674764633, + 0.6943747401237488 + ], + "wrist_rpy": [ + -1.5476818084716797, + 0.031453538686037064, + 1.5513935089111328 + ], + "finger_dofs": [ + 0.4346095323562622, + 0.002289604628458619, + 0.003047232748940587, + 0.4234156310558319, + -0.001728253555484116, + 0.00024524691980332136, + 0.28128764033317566, + 0.00031038367887958884, + 0.0005148644559085369, + 0.5104485750198364, + 0.0017970938934013247, + -0.00315144588239491, + 0.33043935894966125, + 0.0019187997095286846, + 0.0018609910039231181, + 0.3192506730556488, + -0.001845596474595368, + -0.0015052033122628927, + 0.8867712020874023, + 0.010573134757578373, + -0.2101532518863678, + 0.4257652163505554, + -0.0024867502506822348, + -0.002266026334837079, + 0.3151609003543854, + -0.0021132018882781267, + 0.002043407177552581, + 1.6042665243148804, + -0.01440394576638937, + 0.03848494216799736, + 0.4801342189311981, + 0.003938159439712763, + 0.0018347370205447078, + 0.3379114866256714, + -0.0022800613660365343, + -0.0019182187970727682, + 0.6447627544403076, + 0.4881662428379059, + -0.19149471819400787, + -0.01123497262597084, + -0.004014772828668356, + -0.27268680930137634, + -0.005765210371464491, + 0.0031326371245086193, + -0.2924509644508362 + ], + "wrist_pos": [ + 0.29061654210090637, + 0.06640106439590454, + 0.694374680519104 + ], + "wrist_rot": [ + -0.4910215437412262, + 0.49733999371528625, + 0.4929063618183136, + 0.5182605981826782 + ], + "joint_positions": [ + 3.176070777044515e-06, + 0.033754441887140274 + ] + }, + { + "phase": "grasp", + "step": 12, + "virtual_xyz": [ + 0.29061102867126465, + 0.06632624566555023, + 0.6943780183792114 + ], + "wrist_rpy": [ + -1.5467863082885742, + 0.029326261952519417, + 1.550704002380371 + ], + "finger_dofs": [ + 0.46057480573654175, + 0.00233592395670712, + 0.0027844603173434734, + 0.4598523676395416, + -0.0017259321175515652, + -8.441340469289571e-05, + 0.3101996183395386, + 0.0003145596128888428, + 0.000494596955832094, + 0.5407854914665222, + 0.0018024948658421636, + -0.0035583009012043476, + 0.35845839977264404, + 0.0019394386326894164, + 0.0018294163746759295, + 0.350559264421463, + -0.0018517643911764026, + -0.0012140792096033692, + 0.8862080574035645, + 0.009782429784536362, + -0.20888784527778625, + 0.4297940731048584, + -0.0023874437902122736, + -0.0020699473097920418, + 0.33939632773399353, + -0.0020851660519838333, + 0.002062772633507848, + 1.6048355102539062, + -0.014333494007587433, + 0.03826335072517395, + 0.5084424018859863, + 0.00411311537027359, + 0.0018120213644579053, + 0.36913183331489563, + -0.002294586505740881, + -0.0018725725822150707, + 0.6436449289321899, + 0.5084350109100342, + -0.20119987428188324, + -0.010209264233708382, + -0.004055395722389221, + -0.2707991302013397, + -0.005046046804636717, + 0.0029038158245384693, + -0.3038203716278076 + ], + "wrist_pos": [ + 0.2906111180782318, + 0.06632622331380844, + 0.6943779587745667 + ], + "wrist_rot": [ + -0.49150145053863525, + 0.4964144229888916, + 0.4934888482093811, + 0.518138587474823 + ], + "joint_positions": [ + 2.4167723040591227e-06, + 0.033610329031944275 + ] + }, + { + "phase": "grasp", + "step": 13, + "virtual_xyz": [ + 0.2906123995780945, + 0.06626038253307343, + 0.6943770051002502 + ], + "wrist_rpy": [ + -1.5459411144256592, + 0.027244679629802704, + 1.5497221946716309 + ], + "finger_dofs": [ + 0.48830747604370117, + -0.0012946531642228365, + 0.0026676966808736324, + 0.49825918674468994, + -0.0015525309136137366, + -0.0003901878953911364, + 0.34053683280944824, + 0.0002946361491922289, + 0.000478347617899999, + 0.5718375444412231, + 0.0018148147501051426, + -0.0014888206496834755, + 0.3875846564769745, + 0.0018882391741499305, + -0.0008716433658264577, + 0.3826262950897217, + -0.0018300104420632124, + 0.00040143541991710663, + 0.8831495642662048, + 0.01047521736472845, + -0.2048429697751999, + 0.4429258704185486, + -0.002533662598580122, + -0.002197277033701539, + 0.36288997530937195, + -0.002019627019762993, + 0.0021190980914980173, + 1.6047216653823853, + -0.013711733743548393, + 0.03784947469830513, + 0.5400588512420654, + 0.003950356971472502, + 0.0009222912485711277, + 0.40061062574386597, + -0.002260314067825675, + -0.0015481988666579127, + 0.6445126533508301, + 0.526296079158783, + -0.21160705387592316, + -0.00861459318548441, + -0.00404388690367341, + -0.26715630292892456, + -0.004515554290264845, + 0.00272433296777308, + -0.31497108936309814 + ], + "wrist_pos": [ + 0.29061251878738403, + 0.06626036018133163, + 0.6943769454956055 + ], + "wrist_rot": [ + -0.4920545518398285, + 0.495439738035202, + 0.4939706027507782, + 0.5180875658988953 + ], + "joint_positions": [ + 4.84294218949799e-07, + 0.03352993354201317 + ] + }, + { + "phase": "grasp", + "step": 14, + "virtual_xyz": [ + 0.2906171977519989, + 0.0661708265542984, + 0.6943352818489075 + ], + "wrist_rpy": [ + -1.5456783771514893, + 0.025151187554001808, + 1.5480074882507324 + ], + "finger_dofs": [ + 0.5172675848007202, + -0.0014412031741812825, + 0.0029614220838993788, + 0.5383270978927612, + -0.0015660750214010477, + 2.9100394385750405e-05, + 0.3721945583820343, + 0.00045630199019797146, + 0.00044890790013596416, + 0.6043592095375061, + 0.0016949833370745182, + 0.002062046667560935, + 0.418805867433548, + 0.001838373253121972, + -0.0018458531703799963, + 0.4153863191604614, + -0.0017929578898474574, + 0.0018500193255022168, + 0.8796148896217346, + 0.009664647281169891, + -0.2056559920310974, + 0.47003787755966187, + -0.0026814776938408613, + -0.0022992747835814953, + 0.3890887498855591, + -0.002025939291343093, + 0.002150291809812188, + 1.6039321422576904, + -0.014448512345552444, + 0.03920060396194458, + 0.5754328966140747, + 0.004158962983638048, + -0.0007935793837532401, + 0.43252986669540405, + -0.0022490990813821554, + -7.987631397554651e-05, + 0.6410548090934753, + 0.5508111715316772, + -0.21756669878959656, + -0.004247591830790043, + -0.0036071885842829943, + -0.2710789144039154, + -0.003088615834712982, + 0.0026276542339473963, + -0.32625964283943176 + ], + "wrist_pos": [ + 0.29061728715896606, + 0.06617080420255661, + 0.6943352222442627 + ], + "wrist_rot": [ + -0.492941677570343, + 0.49442359805107117, + 0.49412068724632263, + 0.5180718898773193 + ], + "joint_positions": [ + 1.1498124194986303e-06, + 0.03337878733873367 + ] + }, + { + "phase": "grasp", + "step": 15, + "virtual_xyz": [ + 0.2906174063682556, + 0.06609704345464706, + 0.694332480430603 + ], + "wrist_rpy": [ + -1.544799566268921, + 0.022462470456957817, + 1.5466386079788208 + ], + "finger_dofs": [ + 0.5470312833786011, + -0.0019847291987389326, + 0.0028886650688946247, + 0.5802648663520813, + -0.0015963373007252812, + -8.104123116936535e-05, + 0.4049829840660095, + 0.0004550048033706844, + 0.0004191170446574688, + 0.6396311521530151, + 0.0017918135272338986, + 0.003710697637870908, + 0.44890835881233215, + 0.0018885130994021893, + -0.0019242401467636228, + 0.4504671096801758, + -0.0018215901218354702, + 0.0018707773415371776, + 0.8815887570381165, + 0.011571022681891918, + -0.20215825736522675, + 0.4829304814338684, + -0.0028971314895898104, + -0.0023981351405382156, + 0.4223535358905792, + -0.002026931382715702, + 0.0021778233349323273, + 1.6042420864105225, + -0.013890819624066353, + 0.03775074705481529, + 0.6130169034004211, + 0.004065827000886202, + -0.0019118096679449081, + 0.46742016077041626, + -0.002278990112245083, + 0.0018461482832208276, + 0.6446382403373718, + 0.564721941947937, + -0.22871945798397064, + -0.004216748755425215, + -0.0034155885223299265, + -0.2569880187511444, + -0.0026179226115345955, + 0.0023617278784513474, + -0.33820241689682007 + ], + "wrist_pos": [ + 0.2906174957752228, + 0.06609702110290527, + 0.6943324208259583 + ], + "wrist_rot": [ + -0.49373260140419006, + 0.4931878447532654, + 0.49466246366500854, + 0.5179795622825623 + ], + "joint_positions": [ + -1.7430163215537142e-12, + 0.03327689692378044 + ] + }, + { + "phase": "grasp", + "step": 16, + "virtual_xyz": [ + 0.2906263768672943, + 0.0659557580947876, + 0.6942898035049438 + ], + "wrist_rpy": [ + -1.5436948537826538, + 0.01942313462495804, + 1.5455580949783325 + ], + "finger_dofs": [ + 0.5768219828605652, + 0.00016888756363186985, + 0.0027529567014425993, + 0.6239324808120728, + -0.0015551107935607433, + -0.00014183665916789323, + 0.43881747126579285, + 0.000444066128693521, + 0.00037378459819592535, + 0.6758468747138977, + 0.0017723198980093002, + 0.0036940122954547405, + 0.4791848957538605, + 0.0019168375292792916, + -0.0018665413372218609, + 0.48710957169532776, + -0.0018276451155543327, + 0.001855404581874609, + 0.8961972594261169, + 0.011380532756447792, + -0.20448380708694458, + 0.4717475473880768, + -0.0027126625645905733, + -0.002261784393340349, + 0.45748454332351685, + -0.0020213949028402567, + 0.002183865522965789, + 1.6060163974761963, + -0.014268235303461552, + 0.034615542739629745, + 0.65141361951828, + 0.0040550557896494865, + -0.001897438894957304, + 0.5042741894721985, + -0.0022944225929677486, + 0.001895746449008584, + 0.6502670645713806, + 0.5842999219894409, + -0.24316859245300293, + -0.0038630678318440914, + -0.003528835251927376, + -0.24479320645332336, + -0.002309249248355627, + 0.0021180983167141676, + -0.3507183790206909 + ], + "wrist_pos": [ + 0.2906264662742615, + 0.0659557357430458, + 0.6942897439002991 + ], + "wrist_rot": [ + -0.49448084831237793, + 0.49187612533569336, + 0.495421439409256, + 0.517787754535675 + ], + "joint_positions": [ + -1.3383130541277932e-11, + 0.033447422087192535 + ] + }, + { + "phase": "grasp", + "step": 17, + "virtual_xyz": [ + 0.29062533378601074, + 0.06584823876619339, + 0.6942844986915588 + ], + "wrist_rpy": [ + -1.5428470373153687, + 0.015829024836421013, + 1.5439902544021606 + ], + "finger_dofs": [ + 0.6082841157913208, + -0.0019635141361504793, + 0.0027962150052189827, + 0.6684316992759705, + -0.0012170939007773995, + -0.0003274247283115983, + 0.4735018312931061, + 0.000354960560798645, + 0.00032562995329499245, + 0.7130565643310547, + 0.0017808502307161689, + 0.004739723633974791, + 0.5102625489234924, + 0.0018775647040456533, + -0.0019952168222516775, + 0.5246455669403076, + -0.0018020417774096131, + 0.0019313041120767593, + 0.9053929448127747, + 0.010443725623190403, + -0.2013155221939087, + 0.470927357673645, + -0.0026196716353297234, + -0.0023782982025295496, + 0.49317318201065063, + -0.0019830064848065376, + 0.0022507505491375923, + 1.6075754165649414, + -0.013775183819234371, + 0.03289682790637016, + 0.6903735399246216, + 0.004022163804620504, + -0.0019979896023869514, + 0.5427616834640503, + -0.0022881028708070517, + 0.0020091591868549585, + 0.6550411581993103, + 0.6075944900512695, + -0.25394901633262634, + -0.0038866642862558365, + -0.004248286131769419, + -0.24350102245807648, + -0.0021989275701344013, + 0.0018922039307653904, + -0.36356279253959656 + ], + "wrist_pos": [ + 0.2906254231929779, + 0.0658482164144516, + 0.6942844390869141 + ], + "wrist_rot": [ + -0.4955531656742096, + 0.4903630018234253, + 0.49612918496131897, + 0.517520010471344 + ], + "joint_positions": [ + -2.5506707856948196e-11, + 0.03372880071401596 + ] + }, + { + "phase": "grasp", + "step": 18, + "virtual_xyz": [ + 0.29061368107795715, + 0.0657346174120903, + 0.6942253708839417 + ], + "wrist_rpy": [ + -1.5417536497116089, + 0.012801562435925007, + 1.5424327850341797 + ], + "finger_dofs": [ + 0.6397898197174072, + -0.0010863114148378372, + 0.002698814030736685, + 0.7136478424072266, + -0.0011349114356562495, + -0.0004340150044299662, + 0.5089287161827087, + 0.00026637662085704505, + 0.00026114319916814566, + 0.7486603856086731, + 0.0017337596509605646, + 0.004939089994877577, + 0.5436988472938538, + 0.0018445947207510471, + -0.0020321097690612078, + 0.562533438205719, + -0.0017741714837029576, + 0.0019720508717000484, + 0.9069679379463196, + 0.010511435568332672, + -0.19945505261421204, + 0.47443169355392456, + -0.002611476695165038, + -0.00253903865814209, + 0.5296371579170227, + -0.001980514032766223, + 0.0022893468849360943, + 1.6094646453857422, + -0.01513549592345953, + 0.03255663812160492, + 0.7346084117889404, + 0.004188356455415487, + -0.0020369431003928185, + 0.5811235308647156, + -0.002264175331220031, + 0.002109722001478076, + 0.6646887063980103, + 0.6215124130249023, + -0.2710114121437073, + -0.004623619373887777, + -0.0050546396523714066, + -0.2305820882320404, + -0.002357972552999854, + -0.0018679052591323853, + -0.37693893909454346 + ], + "wrist_pos": [ + 0.2906137704849243, + 0.06573459506034851, + 0.6942253112792969 + ], + "wrist_rot": [ + -0.4964137673377991, + 0.48893260955810547, + 0.4967556893825531, + 0.5174476504325867 + ], + "joint_positions": [ + -3.4365822687565384e-11, + 0.033662840723991394 + ] + }, + { + "phase": "grasp", + "step": 19, + "virtual_xyz": [ + 0.29061946272850037, + 0.06560415029525757, + 0.6941885948181152 + ], + "wrist_rpy": [ + -1.5401147603988647, + 0.009074735455214977, + 1.5411505699157715 + ], + "finger_dofs": [ + 0.6722949147224426, + 0.0006116076256148517, + 0.0025917361490428448, + 0.7597824931144714, + -0.0009512706310488284, + -0.000566694070585072, + 0.5448998808860779, + 0.00014988101611379534, + 0.00020134971418883651, + 0.7856733202934265, + 0.001730151241645217, + 0.005014581140130758, + 0.5763797163963318, + 0.001869833911769092, + -0.0020713922567665577, + 0.6019079089164734, + -0.0017799752531573176, + 0.002004933776333928, + 0.9100884199142456, + 0.01059945672750473, + -0.19826780259609222, + 0.48160719871520996, + -0.002624942222610116, + -0.002546644303947687, + 0.5664017200469971, + -0.0019640461541712284, + 0.0023337991442531347, + 1.6095459461212158, + -0.013735395856201649, + 0.03264922276139259, + 0.7717204689979553, + 0.004266680683940649, + -0.0021494082175195217, + 0.6229931116104126, + -0.0022922842763364315, + 0.002213997533544898, + 0.673295259475708, + 0.6273057460784912, + -0.2754277288913727, + -0.005417336244136095, + -0.005799558479338884, + -0.22638185322284698, + -0.0023902379907667637, + -0.0019754020031541586, + -0.38979506492614746 + ], + "wrist_pos": [ + 0.29061955213546753, + 0.06560412794351578, + 0.6941885352134705 + ], + "wrist_rot": [ + -0.4972395598888397, + 0.48725250363349915, + 0.49775978922843933, + 0.5172745585441589 + ], + "joint_positions": [ + -3.7464170654644136e-11, + 0.03371544927358627 + ] + }, + { + "phase": "grasp", + "step": 20, + "virtual_xyz": [ + 0.290640264749527, + 0.06578327715396881, + 0.6944755911827087 + ], + "wrist_rpy": [ + -1.5391407012939453, + 0.004923371598124504, + 1.5405353307724 + ], + "finger_dofs": [ + 0.698282778263092, + 0.0025002933107316494, + 0.0028937917668372393, + 0.7947655320167542, + -0.002066831337288022, + 0.0006135664880275726, + 0.5808902382850647, + 0.0012445433530956507, + 0.00016255758237093687, + 0.8243492245674133, + 0.00011320990597596392, + 0.004812394734472036, + 0.6091201901435852, + 0.0019512238213792443, + -0.0020392939914017916, + 0.6419692039489746, + -0.0018077088752761483, + 0.0019993858877569437, + 0.9206217527389526, + 0.0069930520839989185, + -0.1893937885761261, + 0.5059530735015869, + -0.002364592393860221, + -0.002447051927447319, + 0.6023362278938293, + -0.0019658843521028757, + 0.0023567609023302794, + 1.6102674007415771, + -0.013738496229052544, + 0.033248238265514374, + 0.7952011227607727, + 0.0044012670405209064, + -0.002100144512951374, + 0.663414716720581, + -0.0022798029240220785, + 0.0022460846230387688, + 0.6790736317634583, + 0.6603879332542419, + -0.27725496888160706, + -0.003574742004275322, + -0.004346424713730812, + -0.2506105601787567, + -0.001990522723644972, + -0.0006942666368559003, + -0.40322446823120117 + ], + "wrist_pos": [ + 0.29064035415649414, + 0.06578325480222702, + 0.694475531578064 + ], + "wrist_rot": [ + -0.49817901849746704, + 0.48579058051109314, + 0.4988781213760376, + 0.516667902469635 + ], + "joint_positions": [ + 5.023156290917541e-07, + 0.03408491238951683 + ] + }, + { + "phase": "grasp", + "step": 21, + "virtual_xyz": [ + 0.2906377613544464, + 0.06571485102176666, + 0.6944936513900757 + ], + "wrist_rpy": [ + -1.5391885042190552, + 0.001028275117278099, + 1.5392078161239624 + ], + "finger_dofs": [ + 0.7156679034233093, + 0.002664944389835, + 0.0009082929464057088, + 0.8110426664352417, + -0.002570203272625804, + 0.0019397831056267023, + 0.6166125535964966, + 0.0019303923472762108, + 9.542238694848493e-05, + 0.8586024641990662, + 0.001822675229050219, + 0.004260368179529905, + 0.6368359327316284, + 0.002002533758059144, + -0.0020967188756912947, + 0.6812717914581299, + -0.0018606444355100393, + 0.002045675879344344, + 0.9371331334114075, + 0.009611684828996658, + -0.18193106353282928, + 0.5250129103660583, + -0.0025241589173674583, + -0.0025947955437004566, + 0.6401705741882324, + -0.001958518987521529, + 0.002421050099655986, + 1.6100850105285645, + -0.015259059146046638, + 0.036161839962005615, + 0.8286263346672058, + 0.0045328326523303986, + -0.0021196925081312656, + 0.7019931674003601, + -0.0022915881127119064, + 0.002353775082156062, + 0.6894897818565369, + 0.7126643061637878, + -0.29642096161842346, + -0.002928920090198517, + -0.004129634238779545, + -0.27570196986198425, + -0.0018148404778912663, + 0.0015944925835356116, + -0.41677260398864746 + ], + "wrist_pos": [ + 0.2906378507614136, + 0.06571482867002487, + 0.6944935917854309 + ], + "wrist_rot": [ + -0.4994886517524719, + 0.484468549489975, + 0.499498188495636, + 0.5160454511642456 + ], + "joint_positions": [ + 6.345838301058393e-06, + 0.03408521041274071 + ] + }, + { + "phase": "grasp", + "step": 22, + "virtual_xyz": [ + 0.29064393043518066, + 0.0656457468867302, + 0.6945075988769531 + ], + "wrist_rpy": [ + -1.5387989282608032, + -0.0029343615751713514, + 1.537549376487732 + ], + "finger_dofs": [ + 0.7376616597175598, + 0.002125229686498642, + 1.801760299713351e-05, + 0.8188799619674683, + -0.003003816120326519, + 0.002020168351009488, + 0.6524052023887634, + 0.0020269376691430807, + 1.8439026234773337e-06, + 0.8841574192047119, + 0.0017934103962033987, + 0.006105808075517416, + 0.6090413928031921, + 0.00169614318292588, + -0.0021725166589021683, + 0.7168530225753784, + -0.001830665860325098, + 0.0021063422318547964, + 0.9445399045944214, + 0.008897515945136547, + -0.17579804360866547, + 0.5318928360939026, + -0.002552845049649477, + -0.002778543159365654, + 0.6817729473114014, + -0.0018955148989334702, + 0.00250985287129879, + 1.60947847366333, + -0.016352254897356033, + 0.040097497403621674, + 0.8330156207084656, + 0.004917065612971783, + -0.002089792164042592, + 0.7336093783378601, + -0.0022840623278170824, + 0.0024537688586860895, + 0.7057367563247681, + 0.7650815844535828, + -0.31576651334762573, + -0.002490425482392311, + -0.0038551187608391047, + -0.29862749576568604, + 0.0019918426405638456, + 0.0019935343880206347, + -0.43016624450683594 + ], + "wrist_pos": [ + 0.2906440198421478, + 0.0656457245349884, + 0.6945075392723083 + ], + "wrist_rot": [ + -0.5007784962654114, + 0.4829336702823639, + 0.5001546740531921, + 0.5155979990959167 + ], + "joint_positions": [ + 1.69501690834295e-05, + 0.034110844135284424 + ] + }, + { + "phase": "grasp", + "step": 23, + "virtual_xyz": [ + 0.2906557619571686, + 0.0654461681842804, + 0.6944528818130493 + ], + "wrist_rpy": [ + -1.537703275680542, + -0.006830217782407999, + 1.5364494323730469 + ], + "finger_dofs": [ + 0.7541399598121643, + 0.0026314060669392347, + -0.0020626031327992678, + 0.8297156095504761, + -0.0036275936290621758, + 0.0021193241700530052, + 0.6881882548332214, + 0.0021599633619189262, + -9.27774963201955e-05, + 0.9069501161575317, + 0.0020621006842702627, + 0.006298208609223366, + 0.5821850299835205, + 0.002055489458143711, + -0.002190503990277648, + 0.7491695284843445, + -0.0019911194685846567, + 0.0020696173887699842, + 0.9530971646308899, + 0.009773438796401024, + -0.17498460412025452, + 0.5331897735595703, + -0.002599886152893305, + -0.0027444709558039904, + 0.7203854322433472, + -0.0018803994171321392, + 0.0025210974272340536, + 1.6089383363723755, + -0.01742517203092575, + 0.04250575229525566, + 0.8363157510757446, + 0.005689581856131554, + -0.0019618102815002203, + 0.7621341943740845, + -0.0023386841639876366, + 0.0024805201683193445, + 0.7190736532211304, + 0.8118003010749817, + -0.3358522951602936, + -0.0024611467961221933, + -0.0036152417305856943, + -0.3183715045452118, + 0.002032040385529399, + 0.001995835453271866, + -0.4437812268733978 + ], + "wrist_pos": [ + 0.29065585136413574, + 0.0654461458325386, + 0.6944528222084045 + ], + "wrist_rot": [ + -0.5017316937446594, + 0.48137518763542175, + 0.5011069774627686, + 0.5152038335800171 + ], + "joint_positions": [ + 2.7395723009249195e-05, + 0.03430137410759926 + ] + }, + { + "phase": "grasp", + "step": 24, + "virtual_xyz": [ + 0.2906609773635864, + 0.0652872622013092, + 0.6944071054458618 + ], + "wrist_rpy": [ + -1.536203384399414, + -0.010344707407057285, + 1.5355279445648193 + ], + "finger_dofs": [ + 0.7519161701202393, + 0.002646411070600152, + -0.004958390723913908, + 0.8443678021430969, + -0.0045282598584890366, + 0.002757349982857704, + 0.7257351279258728, + 0.0026178506668657064, + -0.00017535588995087892, + 0.9296630024909973, + 0.0022231396287679672, + 0.006223444361239672, + 0.5513965487480164, + 0.0021909959614276886, + -0.0022648144513368607, + 0.7798851132392883, + -0.002104413229972124, + 0.0020655423868447542, + 0.9556401371955872, + 0.00942996609956026, + -0.17491430044174194, + 0.5372059345245361, + -0.0024742786772549152, + -0.002858394756913185, + 0.758579432964325, + -0.0018675144528970122, + 0.002565731992945075, + 1.607816457748413, + -0.01835682801902294, + 0.04659726098179817, + 0.8356469869613647, + 0.006914812605828047, + -0.00201207771897316, + 0.7911221981048584, + -0.0024142302572727203, + 0.00253334641456604, + 0.7338188290596008, + 0.8484813570976257, + -0.3548591732978821, + -0.002342614810913801, + -0.0037389262579381466, + -0.33166247606277466, + 0.002166369231417775, + 0.0019173079635947943, + -0.457369327545166 + ], + "wrist_pos": [ + 0.2906610667705536, + 0.06528723984956741, + 0.694407045841217 + ], + "wrist_rot": [ + -0.5024408102035522, + 0.4798552989959717, + 0.5021049380302429, + 0.5149589776992798 + ], + "joint_positions": [ + 4.1078867070609704e-05, + 0.03400881588459015 + ] + }, + { + "phase": "grasp", + "step": 25, + "virtual_xyz": [ + 0.29068368673324585, + 0.06519127637147903, + 0.6943920254707336 + ], + "wrist_rpy": [ + -1.534656286239624, + -0.013223567046225071, + 1.534780502319336 + ], + "finger_dofs": [ + 0.7643629312515259, + 0.0025286609306931496, + -0.0061543965712189674, + 0.9474671483039856, + -0.003943252842873335, + 0.0026348582468926907, + 0.7653725147247314, + 0.0024918082635849714, + -0.0002397244534222409, + 0.9495034217834473, + 0.0023020280059427023, + 0.0067165205255150795, + 0.524771511554718, + 0.0020842403173446655, + -0.002320392755791545, + 0.8095014691352844, + -0.0020858626812696457, + 0.0020895632915198803, + 0.9608619213104248, + 0.009237034246325493, + -0.17546765506267548, + 0.5374137163162231, + -0.0024305072147399187, + -0.0029430033173412085, + 0.7958259582519531, + -0.001823893515393138, + 0.002611681120470166, + 1.6085305213928223, + -0.019232237711548805, + 0.04743015766143799, + 0.8322252035140991, + 0.006604248192161322, + -0.0019750504288822412, + 0.8216397762298584, + -0.0023502956610172987, + 0.0025965673848986626, + 0.7561697363853455, + 0.8764553666114807, + -0.3779689073562622, + -0.002370499074459076, + -0.0038238023407757282, + -0.3409245014190674, + 0.002237576525658369, + 0.001854364643804729, + -0.4712667167186737 + ], + "wrist_pos": [ + 0.290683776140213, + 0.06519125401973724, + 0.6943919658660889 + ], + "wrist_rot": [ + -0.5029364824295044, + 0.47852927446365356, + 0.5029982924461365, + 0.5148372054100037 + ], + "joint_positions": [ + 3.969816680182703e-05, + 0.034084729850292206 + ] + }, + { + "phase": "grasp", + "step": 26, + "virtual_xyz": [ + 0.29068523645401, + 0.06507594883441925, + 0.6943357586860657 + ], + "wrist_rpy": [ + -1.5329550504684448, + -0.01574275828897953, + 1.5336096286773682 + ], + "finger_dofs": [ + 0.7701982259750366, + 0.0025881431065499783, + -0.013496875762939453, + 0.9770668148994446, + -0.0075947255827486515, + 0.003288880456238985, + 0.8011542558670044, + 0.0031324410811066628, + -0.0002853002806659788, + 0.968010425567627, + 0.002404590602964163, + 0.007726319599896669, + 0.498366117477417, + 0.0020811506547033787, + -0.0022820939775556326, + 0.8390536308288574, + -0.002089586341753602, + 0.0020752011332660913, + 0.9661093354225159, + 0.009897937998175621, + -0.17681440711021423, + 0.5387684106826782, + -0.002310324925929308, + -0.002971947193145752, + 0.8320620059967041, + -0.0016152076423168182, + 0.0026411486323922873, + 1.6096957921981812, + -0.02144055999815464, + 0.048380013555288315, + 0.8310537338256836, + 0.007006561849266291, + -0.0018546879291534424, + 0.8522404432296753, + -0.0023101838305592537, + 0.002637213561683893, + 0.772973358631134, + 0.9055641293525696, + -0.39002689719200134, + -0.002546721836552024, + -0.0038908652495592833, + -0.3517613410949707, + 0.002308617113158107, + 0.0015559338498860598, + -0.484529972076416 + ], + "wrist_pos": [ + 0.2906853258609772, + 0.06507592648267746, + 0.6943356990814209 + ], + "wrist_rot": [ + -0.5034031271934509, + 0.47714918851852417, + 0.503727912902832, + 0.5149486660957336 + ], + "joint_positions": [ + 3.8746948121115565e-05, + 0.034328311681747437 + ] + }, + { + "phase": "grasp", + "step": 27, + "virtual_xyz": [ + 0.2906850278377533, + 0.0651174858212471, + 0.69432532787323 + ], + "wrist_rpy": [ + -1.5317713022232056, + -0.01732606068253517, + 1.5322941541671753 + ], + "finger_dofs": [ + 0.7818493247032166, + 0.0023927900474518538, + -0.015200769528746605, + 1.0099793672561646, + -0.008552193641662598, + 0.003340996103361249, + 0.8368161916732788, + 0.0032184438314288855, + -0.00033094879472628236, + 0.98300701379776, + 0.0023579190019518137, + 0.00980868749320507, + 0.4766615331172943, + 0.001830863649956882, + -0.0022093774750828743, + 0.8679505586624146, + -0.001972414553165436, + 0.002085816813632846, + 0.9670749306678772, + 0.008493177592754364, + -0.17467932403087616, + 0.5502278208732605, + -0.0024384246207773685, + -0.0030019120313227177, + 0.8679304122924805, + -0.0005697992164641619, + 0.0026709209196269512, + 1.610037088394165, + -0.02252763882279396, + 0.051714010536670685, + 0.8200722932815552, + 0.007852871902287006, + -0.0013303012819960713, + 0.8791161775588989, + -0.00235258461907506, + 0.002666554879397154, + 0.7954484820365906, + 0.9314539432525635, + -0.4106403887271881, + -0.0022361096926033497, + -0.004085334949195385, + -0.3598766624927521, + 0.002373930299654603, + 0.0005168547504581511, + -0.49822935461997986 + ], + "wrist_pos": [ + 0.29068511724472046, + 0.06511746346950531, + 0.6943252682685852 + ], + "wrist_rot": [ + -0.5038041472434998, + 0.4761057496070862, + 0.5040633678436279, + 0.5151938796043396 + ], + "joint_positions": [ + 3.5652021324494854e-05, + 0.03460017219185829 + ] + }, + { + "phase": "grasp", + "step": 28, + "virtual_xyz": [ + 0.29068523645401, + 0.06515965610742569, + 0.6943007111549377 + ], + "wrist_rpy": [ + -1.5316044092178345, + -0.017552804201841354, + 1.5312378406524658 + ], + "finger_dofs": [ + 0.7927624583244324, + 0.0022655159700661898, + -0.018467459827661514, + 1.014957070350647, + -0.012242501601576805, + 0.0036546760238707066, + 0.8708131909370422, + 0.0035961992107331753, + -0.00034859118750318885, + 0.9998223781585693, + 0.0026462047826498747, + 0.012045953422784805, + 0.4502827823162079, + 0.002137703588232398, + -0.002264286857098341, + 0.8928070664405823, + -0.0021311973687261343, + 0.0020569567568600178, + 0.9708016514778137, + 0.009958296082913876, + -0.17162930965423584, + 0.5724930763244629, + -0.0025371273513883352, + -0.0030631942208856344, + 0.901548445224762, + 0.000821994966827333, + 0.002685809275135398, + 1.609208583831787, + -0.02248084358870983, + 0.05357721075415611, + 0.8147483468055725, + 0.007706777658313513, + -0.00019168185826856643, + 0.9059620499610901, + -0.0023324997164309025, + 0.0026793687138706446, + 0.8066337704658508, + 0.9255087375640869, + -0.4251914620399475, + -0.0015609636902809143, + -0.004892958793789148, + -0.3669748604297638, + 0.0025215514469891787, + -0.001888858387246728, + -0.511299192905426 + ], + "wrist_pos": [ + 0.2906852960586548, + 0.0651596337556839, + 0.694300651550293 + ], + "wrist_rot": [ + -0.5040687322616577, + 0.4757380485534668, + 0.5038870573043823, + 0.515447199344635 + ], + "joint_positions": [ + 3.397058753762394e-05, + 0.03479510918259621 + ] + }, + { + "phase": "grasp", + "step": 29, + "virtual_xyz": [ + 0.2906853258609772, + 0.06517238169908524, + 0.6943007707595825 + ], + "wrist_rpy": [ + -1.532033920288086, + -0.017431460320949554, + 1.5313304662704468 + ], + "finger_dofs": [ + 0.8006712794303894, + 0.0024827506858855486, + -0.018056238070130348, + 1.0166890621185303, + -0.011400940828025341, + 0.003521393286064267, + 0.905087411403656, + 0.0034508579410612583, + -0.00034552247961983085, + 1.0154552459716797, + 0.0025218864902853966, + 0.018043680116534233, + 0.439838171005249, + 0.002314066980034113, + -0.0021639843471348286, + 0.9178020358085632, + -0.002095639705657959, + 0.0020501893013715744, + 0.9659669399261475, + 0.008755774237215519, + -0.17107735574245453, + 0.5970059037208557, + -0.0027845713775604963, + -0.003063598880544305, + 0.9362044930458069, + 0.0018210726557299495, + 0.0027071579825133085, + 1.6088500022888184, + -0.022280678153038025, + 0.05426653474569321, + 0.8104217052459717, + 0.007754168007522821, + 0.0005879556993022561, + 0.9334287047386169, + -0.0023220498114824295, + 0.0027016778476536274, + 0.8211033344268799, + 0.8386454582214355, + -0.44741159677505493, + -0.000832851103041321, + -0.006511552259325981, + -0.3768017888069153, + 0.0024826291482895613, + -0.0018799967365339398, + -0.52333003282547 + ], + "wrist_pos": [ + 0.29068541526794434, + 0.06517235934734344, + 0.6943007111549377 + ], + "wrist_rot": [ + -0.5041273236274719, + 0.47590142488479614, + 0.5037787556648254, + 0.5153449773788452 + ], + "joint_positions": [ + 3.564515645848587e-05, + 0.03489752486348152 + ] + }, + { + "phase": "grasp", + "step": 30, + "virtual_xyz": [ + 0.2906627357006073, + 0.06522787362337112, + 0.6943672895431519 + ], + "wrist_rpy": [ + -1.5358822345733643, + -0.013960462063550949, + 1.5339680910110474 + ], + "finger_dofs": [ + 0.8022512197494507, + 0.002234438667073846, + -0.0127478688955307, + 1.0211312770843506, + -0.007463720161467791, + 0.0033526043407619, + 0.9399129152297974, + 0.0030741679947823286, + -0.00031437628786079586, + 1.0292983055114746, + 0.0028434412088245153, + 0.022017668932676315, + 0.43207451701164246, + 0.0026673413813114166, + -0.0023219361901283264, + 0.9446050524711609, + -0.0021984889172017574, + 0.002051343210041523, + 0.9692698121070862, + 0.010080203413963318, + -0.17103204131126404, + 0.6167587637901306, + -0.002941798185929656, + -0.003207009518519044, + 0.9683634042739868, + 0.001849172986112535, + 0.0027375707868486643, + 1.6078072786331177, + -0.022126836702227592, + 0.05463656410574913, + 0.8092857003211975, + 0.007154187187552452, + 0.00177804718259722, + 0.9609017372131348, + -0.0022619133815169334, + 0.0027471641078591347, + 0.8419356346130371, + 0.5884145498275757, + -0.47976061701774597, + -0.0021394395735114813, + -0.011404372751712799, + -0.39783793687820435, + 0.0019758481066673994, + 0.00111980433575809, + -0.5342986583709717 + ], + "wrist_pos": [ + 0.29066282510757446, + 0.06522785127162933, + 0.6943672299385071 + ], + "wrist_rot": [ + -0.5036291480064392, + 0.4784410893917084, + 0.5026786923408508, + 0.5145540833473206 + ], + "joint_positions": [ + 3.9936716348165646e-05, + 0.03500619903206825 + ] + }, + { + "phase": "grasp", + "step": 31, + "virtual_xyz": [ + 0.2905639708042145, + 0.06547750532627106, + 0.6947325468063354 + ], + "wrist_rpy": [ + -1.5458171367645264, + -0.005352180451154709, + 1.542820692062378 + ], + "finger_dofs": [ + 0.7916672825813293, + 0.002431080210953951, + -0.014144538901746273, + 1.0353642702102661, + -0.008499249815940857, + 0.0035640422720462084, + 0.9730488061904907, + 0.0031832014210522175, + -0.00023102466366253793, + 1.0342154502868652, + 0.002959256758913398, + 0.026095306500792503, + 0.4149951636791229, + 0.002914540935307741, + -0.002454396104440093, + 0.9691945314407349, + -0.0022908581886440516, + 0.002092262264341116, + 0.9786431789398193, + 0.009332370012998581, + -0.16733399033546448, + 0.641798734664917, + -0.003088831203058362, + -0.003754965728148818, + 1.0022132396697998, + 0.0019743959419429302, + 0.0029321853071451187, + 1.6073328256607056, + -0.0235484279692173, + 0.05846015736460686, + 0.7974141240119934, + 0.007463439367711544, + 0.0007248902693390846, + 0.9960368275642395, + -0.0021839893888682127, + 0.002890179865062237, + 0.8656737804412842, + 0.2866479754447937, + -0.48937734961509705, + 0.0033067017793655396, + -0.007002169266343117, + -0.4282379746437073, + 0.0002736344176810235, + 0.002205455210059881, + -0.5420047640800476 + ], + "wrist_pos": [ + 0.29056406021118164, + 0.06547748297452927, + 0.6947324872016907 + ], + "wrist_rot": [ + -0.5019075274467468, + 0.4853868782520294, + 0.5004134178161621, + 0.5119323134422302 + ], + "joint_positions": [ + 4.591786637320183e-05, + 0.03440805897116661 + ] + }, + { + "phase": "grasp", + "step": 32, + "virtual_xyz": [ + 0.2905506491661072, + 0.06591327488422394, + 0.69500333070755 + ], + "wrist_rpy": [ + -1.5568517446517944, + 0.0023003609385341406, + 1.549914002418518 + ], + "finger_dofs": [ + 0.7796545028686523, + -0.000721610093023628, + -0.015126046724617481, + 1.0376838445663452, + -0.012657593935728073, + 0.003951095510274172, + 1.0045660734176636, + 0.0035358183085918427, + -7.368953083641827e-05, + 1.036006212234497, + 0.0032076414208859205, + 0.030831020325422287, + 0.39922502636909485, + 0.003442519810050726, + -0.002552224323153496, + 0.9932621717453003, + -0.0024553313851356506, + 0.002064109081402421, + 1.0157184600830078, + 0.013193637132644653, + -0.1564282476902008, + 0.6588472723960876, + -0.003368484554812312, + -0.004041435196995735, + 1.029403567314148, + 0.0020704916678369045, + 0.0030205189250409603, + 1.6041656732559204, + -0.02516055852174759, + 0.06855763494968414, + 0.7838988304138184, + 0.01007358729839325, + 0.0011510822223499417, + 1.0185133218765259, + -0.0023424166720360518, + 0.002892653923481703, + 0.8677479028701782, + 0.15563109517097473, + -0.45878610014915466, + 0.0017384927487000823, + 0.0019032343989238143, + -0.4647834897041321, + -0.0023656520061194897, + 0.002445051446557045, + -0.549774706363678 + ], + "wrist_pos": [ + 0.29055073857307434, + 0.06591325253248215, + 0.6950032711029053 + ], + "wrist_rot": [ + -0.5010852217674255, + 0.4918753206729889, + 0.49761244654655457, + 0.5092682242393494 + ], + "joint_positions": [ + 5.23274065926671e-05, + 0.03409843519330025 + ] + }, + { + "phase": "grasp", + "step": 33, + "virtual_xyz": [ + 0.2905561029911041, + 0.06619948148727417, + 0.6951103806495667 + ], + "wrist_rpy": [ + -1.5618613958358765, + 0.005979329347610474, + 1.5532664060592651 + ], + "finger_dofs": [ + 0.7791078686714172, + -0.0008294852450489998, + -0.018569443374872208, + 1.0421754121780396, + -0.015360308811068535, + 0.004036463797092438, + 1.0324188470840454, + 0.003656235756352544, + 7.439711043844e-05, + 1.044533133506775, + 0.0034481084439903498, + 0.03364944085478783, + 0.3868490159511566, + 0.0036310323048382998, + -0.0026594987139105797, + 1.0126614570617676, + -0.0023923604749143124, + 0.002081326674669981, + 1.0375893115997314, + 0.015760071575641632, + -0.1461130678653717, + 0.676537275314331, + -0.0034808318596333265, + -0.004277568310499191, + 1.0593516826629639, + 0.0021676295436918736, + 0.003092210041359067, + 1.6028965711593628, + -0.025341136381030083, + 0.07321961969137192, + 0.7802822589874268, + 0.010480111464858055, + 0.0018538578879088163, + 1.0259982347488403, + -0.002328208414837718, + 0.002929685404524207, + 0.873876690864563, + 0.0965309888124466, + -0.43397843837738037, + -0.0018945407355204225, + 0.003400278277695179, + -0.4865981638431549, + -0.002399430377408862, + 0.0024401377886533737, + -0.5589085221290588 + ], + "wrist_pos": [ + 0.2905561923980713, + 0.06619945913553238, + 0.6951103210449219 + ], + "wrist_rot": [ + -0.5006144046783447, + 0.4948914349079132, + 0.49630409479141235, + 0.5080843567848206 + ], + "joint_positions": [ + 5.391786908148788e-05, + 0.03418385982513428 + ] + }, + { + "phase": "grasp", + "step": 34, + "virtual_xyz": [ + 0.2905701696872711, + 0.06619272381067276, + 0.6952160596847534 + ], + "wrist_rpy": [ + -1.5641133785247803, + 0.0065552592277526855, + 1.5550570487976074 + ], + "finger_dofs": [ + 0.7832092642784119, + 0.004130123183131218, + -0.028724463656544685, + 1.0857292413711548, + -0.01805385760962963, + 0.003662540577352047, + 1.0559083223342896, + 0.0035992665216326714, + 0.00015545665519312024, + 1.054147720336914, + 0.0036284541711211205, + 0.03606639802455902, + 0.3697047531604767, + 0.003994293045252562, + -0.002748486353084445, + 1.0299590826034546, + -0.002576042665168643, + 0.0020794691517949104, + 1.0483258962631226, + 0.017046445980668068, + -0.1416110396385193, + 0.6908431053161621, + -0.0036281903740018606, + -0.00447467714548111, + 1.0880353450775146, + 0.002230870071798563, + 0.0031197115313261747, + 1.6026496887207031, + -0.02658434957265854, + 0.07534205168485641, + 0.7777430415153503, + 0.010366681963205338, + 0.0019593159668147564, + 1.043923258781433, + -0.002283673267811537, + 0.0029520494863390923, + 0.8764686584472656, + 0.07332243770360947, + -0.4197477102279663, + -0.002253251848742366, + 0.003963937517255545, + -0.5047234296798706, + -0.002421237528324127, + 0.002531993668526411, + -0.5671020746231079 + ], + "wrist_pos": [ + 0.2905702590942383, + 0.06619270145893097, + 0.6952160000801086 + ], + "wrist_rot": [ + -0.500598669052124, + 0.496043860912323, + 0.4960556626319885, + 0.5072181224822998 + ], + "joint_positions": [ + 5.3697014664066955e-05, + 0.03435911610722542 + ] + }, + { + "phase": "grasp", + "step": 35, + "virtual_xyz": [ + 0.2905544936656952, + 0.06614478677511215, + 0.6952072978019714 + ], + "wrist_rpy": [ + -1.5637348890304565, + 0.007732509635388851, + 1.5565506219863892 + ], + "finger_dofs": [ + 0.8402931094169617, + 0.0034413409885019064, + -0.02843567728996277, + 1.1913723945617676, + -0.00021331665629986674, + -0.0017674702685326338, + 1.078485131263733, + -0.0005283012869767845, + 0.00018065303447656333, + 1.059123158454895, + 0.0039620110765099525, + 0.03714410960674286, + 0.36553576588630676, + 0.006327927578240633, + -0.0028310073539614677, + 1.043548822402954, + -0.0030618745367974043, + 0.0020025314297527075, + 1.0555684566497803, + 0.01852457970380783, + -0.1443980485200882, + 0.6929903030395508, + -0.0033932721707969904, + -0.004241824150085449, + 1.112352728843689, + 0.0021872171200811863, + 0.003038287628442049, + 1.6032135486602783, + -0.025768237188458443, + 0.07135756313800812, + 0.7741982340812683, + 0.008762823417782784, + 0.002264863345772028, + 1.061687707901001, + -0.002204305026680231, + 0.002856282517313957, + 0.8768101930618286, + 0.05079061537981033, + -0.4104689359664917, + -0.0023149827029556036, + 0.004644445143640041, + -0.5167357921600342, + -0.0022761125583201647, + 0.0026168148033320904, + -0.5761992931365967 + ], + "wrist_pos": [ + 0.29055458307266235, + 0.06614476442337036, + 0.6952072381973267 + ], + "wrist_rot": [ + -0.499837726354599, + 0.49661996960639954, + 0.4962318241596222, + 0.5072323679924011 + ], + "joint_positions": [ + 5.1801325753331184e-05, + 0.0342935174703598 + ] + }, + { + "phase": "grasp", + "step": 36, + "virtual_xyz": [ + 0.2906067669391632, + 0.06582503765821457, + 0.6952199935913086 + ], + "wrist_rpy": [ + -1.5612066984176636, + 0.006571679376065731, + 1.5572301149368286 + ], + "finger_dofs": [ + 0.9570022225379944, + 0.003741663182154298, + -0.020707108080387115, + 1.356602668762207, + 0.0017468637088313699, + 0.00029159203404560685, + 1.1001701354980469, + -0.0013734379317611456, + 0.00019031284318771213, + 1.064950704574585, + 0.0041200038976967335, + 0.03760318458080292, + 0.3623450696468353, + 0.007955913431942463, + -0.0031634396873414516, + 1.0582032203674316, + -0.00312402518466115, + 0.002108295913785696, + 1.0728349685668945, + 0.020843898877501488, + -0.15515169501304626, + 0.6907736659049988, + -0.003351651830598712, + -0.004668313544243574, + 1.132375955581665, + 0.002237824723124504, + 0.003087062854319811, + 1.60291588306427, + -0.026508711278438568, + 0.07337599992752075, + 0.7801885008811951, + 0.00930882804095745, + 0.0020147000905126333, + 1.087226152420044, + -0.0021207835525274277, + 0.003013203153386712, + 0.8785062432289124, + 0.04486878588795662, + -0.4072015881538391, + -0.0027087836060673, + 0.0045200674794614315, + -0.5269148349761963, + -0.002197117544710636, + 0.0024350755847990513, + -0.5830501317977905 + ], + "wrist_pos": [ + 0.29060685634613037, + 0.06582501530647278, + 0.6952199339866638 + ], + "wrist_rot": [ + -0.49931830167770386, + 0.4958692789077759, + 0.49732354283332825, + 0.5074092149734497 + ], + "joint_positions": [ + 5.13566228619311e-05, + 0.034991178661584854 + ] + }, + { + "phase": "grasp", + "step": 37, + "virtual_xyz": [ + 0.29061010479927063, + 0.06581059843301773, + 0.6952449679374695 + ], + "wrist_rpy": [ + -1.560346245765686, + 0.006791969761252403, + 1.557491660118103 + ], + "finger_dofs": [ + 1.058308482170105, + 0.009018493816256523, + -0.01258530467748642, + 1.3667453527450562, + 0.004385487176477909, + -0.0030886565800756216, + 1.1119962930679321, + -0.0024383303243666887, + 0.00018387964519206434, + 1.0669156312942505, + 0.004590571392327547, + 0.03510482236742973, + 0.3764397203922272, + 0.007595671806484461, + -0.0032613787334412336, + 1.0787090063095093, + -0.0029691236559301615, + 0.002111761597916484, + 1.0820688009262085, + 0.020043056458234787, + -0.1586245447397232, + 0.6843525171279907, + -0.0035290922969579697, + -0.004421776160597801, + 1.1507465839385986, + 0.0022606716956943274, + 0.0030353423207998276, + 1.6032432317733765, + -0.02736295945942402, + 0.07291465252637863, + 0.7810128927230835, + 0.009121451526880264, + 0.0022321860305964947, + 1.0953670740127563, + -0.002120940014719963, + 0.0029729369562119246, + 0.8816481828689575, + 0.034564774483442307, + -0.40344876050949097, + -0.002597332000732422, + 0.004863796755671501, + -0.5366711020469666, + -0.0021850145421922207, + 0.0024491739459335804, + -0.5884058475494385 + ], + "wrist_pos": [ + 0.2906101942062378, + 0.06581057608127594, + 0.6952449083328247 + ], + "wrist_rot": [ + -0.49897995591163635, + 0.49577614665031433, + 0.4975479245185852, + 0.5076130628585815 + ], + "joint_positions": [ + 5.268585300655104e-05, + 0.035638924688100815 + ] + }, + { + "phase": "grasp", + "step": 38, + "virtual_xyz": [ + 0.29061824083328247, + 0.06558207422494888, + 0.6952133774757385 + ], + "wrist_rpy": [ + -1.5599005222320557, + 0.003447446972131729, + 1.5569682121276855 + ], + "finger_dofs": [ + 1.1030980348587036, + 0.011022210121154785, + -0.015316362492740154, + 1.3484998941421509, + 0.0036851242184638977, + -0.002936034230515361, + 1.1253697872161865, + -0.002299609361216426, + 0.00015827784955035895, + 1.0716991424560547, + 0.006074371747672558, + 0.03198119252920151, + 0.3701499104499817, + 0.011110218241810799, + -0.0037220162339508533, + 1.0983924865722656, + -0.003329225117340684, + 0.0021738565992563963, + 1.0995512008666992, + 0.02070070616900921, + -0.15872497856616974, + 0.667933464050293, + -0.0034684492275118828, + -0.0047023906372487545, + 1.1671181917190552, + 0.002319642109796405, + 0.003108179196715355, + 1.6056736707687378, + -0.02791111171245575, + 0.07251307368278503, + 0.7726565003395081, + 0.00844735000282526, + 0.00236525759100914, + 1.1069614887237549, + -0.002058739075437188, + 0.0030515941325575113, + 0.8895816206932068, + 0.016946766525506973, + -0.3938751220703125, + -0.0026153824292123318, + 0.005951192229986191, + -0.5553751587867737, + -0.0022205905988812447, + 0.0024970860686153173, + -0.5889236330986023 + ], + "wrist_pos": [ + 0.29061830043792725, + 0.06558205187320709, + 0.6952133178710938 + ], + "wrist_rot": [ + -0.4998335540294647, + 0.49469032883644104, + 0.4983648657798767, + 0.5070309638977051 + ], + "joint_positions": [ + 5.4262298363028094e-05, + 0.03589937090873718 + ] + }, + { + "phase": "grasp", + "step": 39, + "virtual_xyz": [ + 0.29061633348464966, + 0.06543717533349991, + 0.695226788520813 + ], + "wrist_rpy": [ + -1.5604497194290161, + 0.0017188419587910175, + 1.556915283203125 + ], + "finger_dofs": [ + 1.1156048774719238, + 0.011041338555514812, + -0.016560962423682213, + 1.3507986068725586, + 0.0031982059590518475, + -0.0028100013732910156, + 1.1410340070724487, + -0.002191397361457348, + 9.227544069290161e-05, + 1.0798083543777466, + 0.006195032503455877, + 0.03391168266534805, + 0.35822251439094543, + 0.01142052374780178, + -0.0037451833486557007, + 1.1083736419677734, + -0.0033284337259829044, + 0.0021607785020023584, + 1.1080846786499023, + 0.020241573452949524, + -0.15810352563858032, + 0.6609032154083252, + -0.0033593452535569668, + -0.004765945952385664, + 1.1819432973861694, + 0.0023458153009414673, + 0.0031098441686481237, + 1.6065140962600708, + -0.02922765351831913, + 0.07282755523920059, + 0.7692550420761108, + 0.008232672698795795, + 0.0025547645054757595, + 1.1159965991973877, + -0.0020185797475278378, + 0.0030567876528948545, + 0.8963508009910583, + -0.006190082523971796, + -0.38284674286842346, + -0.0026817305479198694, + 0.008416350930929184, + -0.5730665922164917, + -0.002286912640556693, + 0.0025721173733472824, + -0.5904216170310974 + ], + "wrist_pos": [ + 0.2906164228916168, + 0.06543715298175812, + 0.6952267289161682 + ], + "wrist_rot": [ + -0.5004178285598755, + 0.4943769574165344, + 0.49864909052848816, + 0.5064805150032043 + ], + "joint_positions": [ + 5.512390271178447e-05, + 0.03590564802289009 + ] + }, + { + "phase": "grasp", + "step": 40, + "virtual_xyz": [ + 0.29060667753219604, + 0.06540374457836151, + 0.6952588558197021 + ], + "wrist_rpy": [ + -1.5621585845947266, + 0.001886175130493939, + 1.55772864818573 + ], + "finger_dofs": [ + 1.1185897588729858, + 0.01148915570229292, + -0.018142269924283028, + 1.361186146736145, + 0.0028116232715547085, + -0.0026768490206450224, + 1.1549557447433472, + -0.0020881101954728365, + 6.132342969067395e-05, + 1.0842596292495728, + 0.006158508826047182, + 0.03484407812356949, + 0.35004478693008423, + 0.011342499405145645, + -0.003729457501322031, + 1.1173102855682373, + -0.003269878216087818, + 0.002157067647203803, + 1.1100345849990845, + 0.01961730793118477, + -0.15660439431667328, + 0.6549490094184875, + -0.0033289955463260412, + -0.004782225005328655, + 1.1940423250198364, + 0.002374171745032072, + 0.0031127366237342358, + 1.6056199073791504, + -0.030067916959524155, + 0.07468162477016449, + 0.7661120891571045, + 0.007987497374415398, + 0.002632239367812872, + 1.1273468732833862, + -0.0019494231091812253, + 0.00306584220379591, + 0.9060160517692566, + -0.0523817241191864, + -0.36874547600746155, + -0.0017664553597569466, + 0.013971206732094288, + -0.5891393423080444, + -0.0022963795345276594, + 0.002724163932725787, + -0.5927183628082275 + ], + "wrist_pos": [ + 0.2906067669391632, + 0.06540372222661972, + 0.6952587962150574 + ], + "wrist_rot": [ + -0.5006073713302612, + 0.49504879117012024, + 0.498390257358551, + 0.5058914422988892 + ], + "joint_positions": [ + 5.4448330047307536e-05, + 0.035638220608234406 + ] + }, + { + "phase": "grasp", + "step": 41, + "virtual_xyz": [ + 0.290610671043396, + 0.06548350304365158, + 0.6953304409980774 + ], + "wrist_rpy": [ + -1.5643551349639893, + 0.002529182704165578, + 1.5588493347167969 + ], + "finger_dofs": [ + 1.1169989109039307, + 0.011378640308976173, + -0.019397065043449402, + 1.3726930618286133, + 0.0019079073099419475, + -0.00253984029404819, + 1.1665854454040527, + -0.001954562496393919, + 6.35641990811564e-05, + 1.0878950357437134, + 0.006506778299808502, + 0.03667426109313965, + 0.34365448355674744, + 0.011997310444712639, + -0.003808001521974802, + 1.125405192375183, + -0.003303773468360305, + 0.002156610833480954, + 1.1171226501464844, + 0.019055206328630447, + -0.1516954004764557, + 0.648837685585022, + -0.0031178020872175694, + -0.0051737395115196705, + 1.201311707496643, + 0.0024010734632611275, + 0.003133955877274275, + 1.6017115116119385, + -0.029009096324443817, + 0.08200043439865112, + 0.7619593739509583, + 0.009488564915955067, + 0.002324910368770361, + 1.1414276361465454, + -0.0019950249698013067, + 0.0030777049250900745, + 0.9226045608520508, + -0.1174481064081192, + -0.34474682807922363, + 0.0015289521543309093, + 0.022549450397491455, + -0.6059043407440186, + -0.0024152121040970087, + 0.002859533065930009, + -0.5937616229057312 + ], + "wrist_pos": [ + 0.29061076045036316, + 0.06548348069190979, + 0.6953303813934326 + ], + "wrist_rot": [ + -0.5007243156433105, + 0.49603864550590515, + 0.4979679584503174, + 0.5052213072776794 + ], + "joint_positions": [ + 5.3578653023578227e-05, + 0.03536238148808479 + ] + }, + { + "phase": "grasp", + "step": 42, + "virtual_xyz": [ + 0.29057371616363525, + 0.06567765027284622, + 0.6955090761184692 + ], + "wrist_rpy": [ + -1.5683610439300537, + 0.005953453481197357, + 1.5627878904342651 + ], + "finger_dofs": [ + 1.114172101020813, + 0.013845652341842651, + -0.021998010575771332, + 1.3938045501708984, + 0.00208737188950181, + -0.002532805548980832, + 1.175108551979065, + -0.0019425865029916167, + 0.00010175108764087781, + 1.0911839008331299, + 0.006989479064941406, + 0.03740933537483215, + 0.3389027416706085, + 0.011937377043068409, + -0.0037737968377768993, + 1.1309443712234497, + -0.0031796961557120085, + 0.002132817404344678, + 1.1241936683654785, + 0.018312130123376846, + -0.14808660745620728, + 0.6339088678359985, + -0.003026526188477874, + -0.005085548385977745, + 1.2094428539276123, + 0.0024289493449032307, + 0.0031700872350484133, + 1.600041389465332, + -0.028745129704475403, + 0.08362604677677155, + 0.7539152503013611, + 0.009152782149612904, + 0.002368040382862091, + 1.152286171913147, + -0.001956567633897066, + 0.003062051720917225, + 0.9999032616615295, + -0.35560542345046997, + -0.2517944276332855, + 0.003805935848504305, + 0.055967703461647034, + -0.6429526805877686, + -0.0031993838492780924, + 0.002869538264349103, + -0.5914885401725769 + ], + "wrist_pos": [ + 0.2905738055706024, + 0.06567762792110443, + 0.6955090165138245 + ], + "wrist_rot": [ + -0.4999001622200012, + 0.49888095259666443, + 0.49710509181022644, + 0.5040874481201172 + ], + "joint_positions": [ + 5.245993088465184e-05, + 0.03433266282081604 + ] + }, + { + "phase": "grasp", + "step": 43, + "virtual_xyz": [ + 0.2906592786312103, + 0.06607417017221451, + 0.6956663131713867 + ], + "wrist_rpy": [ + -1.5606234073638916, + 0.007637595757842064, + 1.5667847394943237 + ], + "finger_dofs": [ + 1.1100984811782837, + 0.014329617843031883, + -0.03419312462210655, + 1.4346543550491333, + 0.001432520686648786, + -0.002345432061702013, + 1.1812779903411865, + -0.001827689353376627, + 0.00023240649898070842, + 1.0928584337234497, + 0.007733650505542755, + 0.028902258723974228, + 0.3271123468875885, + 0.012437686324119568, + -0.0038911623414605856, + 1.1300963163375854, + -0.0032190759666264057, + 0.0021527851931750774, + 1.1321128606796265, + 0.023663951084017754, + -0.16448447108268738, + 0.6055483818054199, + -0.0037976657040417194, + -0.006070385221391916, + 1.2133839130401611, + 0.0025542976800352335, + 0.0032029063440859318, + 1.5966455936431885, + -0.022782815620303154, + 0.08504369109869003, + 0.7521724104881287, + 0.012296929024159908, + -0.0019598861690610647, + 1.1625341176986694, + -0.002084912732243538, + 0.0031340988352894783, + 1.3595821857452393, + -0.9182552695274353, + -0.035084646195173264, + 0.017332738265395164, + 0.09775172919034958, + -0.5932843685150146, + -0.0023877692874521017, + -0.002031494863331318, + -0.583033561706543 + ], + "wrist_pos": [ + 0.2906593680381775, + 0.06607414782047272, + 0.6956662535667419 + ], + "wrist_rot": [ + -0.4965280592441559, + 0.4983707070350647, + 0.499620646238327, + 0.5054360032081604 + ], + "joint_positions": [ + 5.585751205217093e-05, + 0.031200818717479706 + ] + }, + { + "phase": "grasp", + "step": 44, + "virtual_xyz": [ + 0.29075750708580017, + 0.0657886266708374, + 0.6954819560050964 + ], + "wrist_rpy": [ + -1.548752784729004, + -0.0007833698764443398, + 1.5622469186782837 + ], + "finger_dofs": [ + 1.1248772144317627, + 0.011032123118638992, + -0.04140143468976021, + 1.4555424451828003, + -0.0006706909625791013, + -0.002108572982251644, + 1.184343934059143, + -0.0017029852606356144, + 0.0001278918207390234, + 1.10209321975708, + 0.008387631736695766, + 0.023347079753875732, + 0.3184587359428406, + 0.01445980928838253, + -0.004175296984612942, + 1.1283375024795532, + -0.0034876803401857615, + 0.00219251262024045, + 1.1220027208328247, + 0.024466540664434433, + -0.17850123345851898, + 0.5985329151153564, + -0.003044787095859647, + -0.006753297057002783, + 1.2157673835754395, + 0.0025226776488125324, + 0.003225375898182392, + 1.5979084968566895, + -0.018856029957532883, + 0.07931096851825714, + 0.7538352012634277, + 0.013459180481731892, + -0.0023903134278953075, + 1.158253788948059, + -0.002196631161496043, + 0.0032344628125429153, + 1.379205584526062, + -0.9259470105171204, + -0.05800628662109375, + 0.01615416444838047, + 0.0959182009100914, + -0.5555917620658875, + -0.0024462558794766665, + -0.002483485732227564, + -0.583334743976593 + ], + "wrist_pos": [ + 0.29075759649276733, + 0.06578860431909561, + 0.6954818964004517 + ], + "wrist_rot": [ + -0.4967648983001709, + 0.4921417236328125, + 0.5035094022750854, + 0.507443904876709 + ], + "joint_positions": [ + 5.327974940882996e-05, + 0.029173752292990685 + ] + } +] \ No newline at end of file diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-10.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-10.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-10.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-12.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-12.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-12.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-13.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-13.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-13.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-14.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-14.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-14.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-16.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-16.mtl new file mode 100644 index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-16.mtl @@ -0,0 +1,15 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-17.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-17.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-17.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-21.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-21.mtl new file mode 100644 index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-21.mtl @@ -0,0 +1,15 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-23.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-23.mtl new file mode 100644 index 0000000000000000000000000000000000000000..cc13162e84b57f2c497b6d532303e5efaca74435 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-23.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-24.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-24.mtl new file mode 100644 index 0000000000000000000000000000000000000000..cc13162e84b57f2c497b6d532303e5efaca74435 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-24.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-25.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-25.mtl new file mode 100644 index 0000000000000000000000000000000000000000..cc13162e84b57f2c497b6d532303e5efaca74435 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-25.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-26.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-26.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-26.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-27.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-27.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-27.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-29.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-29.mtl new file mode 100644 index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-29.mtl @@ -0,0 +1,15 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-3.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-3.mtl new file mode 100644 index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-3.mtl @@ -0,0 +1,15 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-31.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-31.mtl new file mode 100644 index 0000000000000000000000000000000000000000..cc13162e84b57f2c497b6d532303e5efaca74435 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-31.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-32.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-32.mtl new file mode 100644 index 0000000000000000000000000000000000000000..cc13162e84b57f2c497b6d532303e5efaca74435 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-32.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-33.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-33.mtl new file mode 100644 index 0000000000000000000000000000000000000000..cc13162e84b57f2c497b6d532303e5efaca74435 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-33.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-4.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-4.mtl @@ -0,0 +1,15 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + diff --git a/StorageFurniture/46490/partnet_mobility/textured_objs/original-9.mtl b/StorageFurniture/46490/partnet_mobility/textured_objs/original-9.mtl new file mode 100644 index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9 --- /dev/null +++ b/StorageFurniture/46490/partnet_mobility/textured_objs/original-9.mtl @@ -0,0 +1,15 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +map_Kd ../images/texture_0.jpg + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 +